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KonstantinosAng / KinectPython

Human - Robot Collaboration for fabric folding using Kinect2, RoboDK, Reflex 1 gripper and the ATI Force Torque Gamma sensor
MIT License
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About the hand-eye calibration of Kinect v2 #19

Open Franka-Med opened 2 years ago

Franka-Med commented 2 years ago

Hi, I am also using Kinect V2 and Robotic Arm to pick up items recently. How do you solve the problem of hand-eye calibration (eye-to-hand), and convert object coordinates into Robotic Arm end coordinates? My environment is Windows 10, Python 3.8. Thank you.

KonstantinosAng commented 2 years ago

I used RoboDK free edition, for all the Robot Movement and Kinematics calculations. I used the World Coordinate System of Kinect and transform all the points to the Robots coordinate system.

KonstantinosAng commented 2 years ago

You can read more here:

https://nemertes.library.upatras.gr/jspui/bitstream/10889/13753/1/DT_M_%ce%91%ce%93%ce%93%ce%95%ce%9b%ce%9f%ce%a0%ce%9f%ce%a5%ce%9b%ce%9f%ce%a3_%ce%9a%ce%a9%ce%9d%ce%a3%ce%a4%ce%91%ce%9d%ce%a4%ce%99%ce%9d%ce%9f%ce%a3_246690.pdf