哈尔滨商业大学学报（自然科学版）2026，Vol.42Issue(4)：450-456,7.
一种结合手眼标定与TCP标定的标定方法
A calibration method combining hand-eye calibration and TCP calibration
摘要
Abstract
Traditional methods of calibrating the tool center point(TCP)and conducting hand-eye calibration were performed separately,resulting in significant cumulative errors.This paper proposed a collaborative calibration method combining TCP calibration and hand-eye calibration.The nine-point method and planar TCP calibration method were adopted to obtain the initial hand-eye calibration matrix and initial TCP offset,and the coordinate equations for arbitrary points in space were established in the base coordinate system.With the Lie algebra linear dimensionality reduction method,TCP values,rotation angles,camera height,and error compensation quantities of the hand-eye matrix were acquired,and the precise values for hand-eye calibration and TCP calibration were derived.Simulation and experimental results demonstrated that the average calibration position error of the proposed collaborative calibration algorithm was approximately 34%lower than that of the separate calibration method,thus improving the robot's calibration accuracy.关键词
手眼标定/TCP标定/九点标定/协同标定/李代数/误差补偿Key words
hand-eye calibration/TCP calibration/nine-point calibration/collaborative calibration/Lie algebras/error compensation分类
信息技术与安全科学引用本文复制引用
袁彬,丁伟,徐子翔,张润梅,陈中,李佳祥..一种结合手眼标定与TCP标定的标定方法[J].哈尔滨商业大学学报（自然科学版）,2026,42(4):450-456,7.基金项目
安徽建筑大学项目(JZ202364) （JZ202364）
安徽建筑大学项目(JZ202391) （JZ202391）
国家自然科学基金(52275483) （52275483）
工程机械智能制造重点实验室开放基金(IMCM2023KF02) （IMCM2023KF02）
陕西省公路工程机械重点实验室开放基金(300102252507) （300102252507）
安徽省仿真设计和现代制造工程技术研究中心开放基金(SGCZZZD2101) （SGCZZZD2101）
