PKUAILab / Arm-camera-Hand-eye-Calibration

A standard python code for eye-to-hand calibration. arm: HITBOT Z-arm 1832 camera: Intel Realsense D435i platform: Razer-Blade Advanced Model with Windows10 Enterprise LTSC

Arm-camera-Hand-eye-Calibration

Intro

A standard python code for eye-to-hand calibration.
Arm: HITBOT Z-arm 1832
Camera: Intel Realsense D435i
Platform: Razer-Blade Advanced Model
hardware i7-8750H with GTX 1070 Max-Q
windows Windows10 1809 Enterprise LTSC
python 3.8.3
pytorch 1.8.1
cuda 10.2
nvidia-driver 442.50

Calibration Method

SCARA standard Nine-point calibration method Robotic arm eye-to-hand calibration method (Tsai-Lenz)

Installation

1.Download the driver of camera and robotic arm
2.Neil the ip configuration of your arm