1. The eye is in the hand
说明一下，这里面说的目标物其实也就是标定板。
As shown in the figure above, during the two movements of the end of the robotic arm , according to the above equation A * X = X * B, there is the following relationship:
1. The pose relationship of the camera (Camera) relative to the end effector (End) has not changed (imagine that the camera is fixed on the end effector, and the position relationship must not change);
2. The relationship between the end effector (End) and the robot base coordinate (Robot) needs to be solved using the forward and reverse kinematics of the robot (such as the classic DH method);
3. The coordinate relationship between the object (object) and the camera (Camera) can be obtained through the depth camera (for example, using the D435 depth camera);
4. Solved X: the relationship between the camera (Camera) and the end effector (End).
2. Eyes out of hand
说明一下，这里面说的目标物其实也就是标定板。
Similar to the eye in the hand, as shown in the figure above, during the two movements of the end of the robotic arm , according to the above equation A * X = X * B, there is the following relationship:
1. The pose relationship between the object (object) and the end effector (End) has not changed (the end effectors are clamped with the calibration plate, and the positions of the two must not change);
2. The relationship between the base coordinate (Robot) and the robot end effector (End) needs to be solved using the forward and reverse kinematics of the robot;
3. The coordinate relationship between the object (object) and the camera (Camera) can be obtained through the depth camera to obtain the distance between them;
4. What is solved is X: the relationship between the camera (Camera) and the base coordinate (Robot).
3. Solve for X
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