A calibration method combining hand-eye calibration and TCP calibration

A calibration method combining hand-eye calibration and TCP calibration | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article A calibration method combining hand-eye calibration and TCP calibration Bin Yuan, Wei Ding, Zihua Chen, Zixiang Xu, Runmei Zhang, Zhong Chen, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7457937/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Robots' traditional Tool Center Point (TCP) calibration and hand-eye calibration are implemented independently, which is likely to generate large cumulative errors. In this paper, a collaborative calibration method integrating TCP calibration and hand-eye calibration is put forward. The nine-point method and the planar TCP calibration method are employed to acquire the initial matrix for hand-eye calibration and the initial TCP offset, and to set up the coordinate equation of an arbitrary point in space under the base coordinate system. Through the Lie algebra linear dimensionality reduction method, the TCP value, rotation angle, camera height, and the error compensation amount of the hand-eye matrix are obtained, thus getting the precise values of hand-eye calibration and TCP calibration. Through experimental verification of the surface, the collaborative calibration algorithm adopted in this paper reduces the position error and attitude error, improves the calibration accuracy of the robot, and can meet the needs of more working scenarios. Robot arm Robot calibrationTcp Nine-point calibration Error compensation amount Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7457937","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":510482247,"identity":"19ae5349-2185-48cd-9361-f422b07cf340","order_by":0,"name":"Bin Yuan","email":"","orcid":"","institution":"Anhui Jianzhu University","correspondingAuthor":false,"prefix":"","firstName":"Bin","middleName":"","lastName":"Yuan","suffix":""},{"id":510482248,"identity":"09308fba-70c5-41e5-99f3-8b423ee03e18","order_by":1,"name":"Wei 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In this paper, a collaborative calibration method integrating TCP calibration and hand-eye calibration is put forward. The nine-point method and the planar TCP calibration method are employed to acquire the initial matrix for hand-eye calibration and the initial TCP offset, and to set up the coordinate equation of an arbitrary point in space under the base coordinate system. Through the Lie algebra linear dimensionality reduction method, the TCP value, rotation angle, camera height, and the error compensation amount of the hand-eye matrix are obtained, thus getting the precise values of hand-eye calibration and TCP calibration. 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