Calibration for camera system of robot vision using point correspondence relation from Cartesian coordinates

In this research, we have developed algorithm by attaching of the camera at the end-effector of industrial 6 axis robot which determines position and orientation of camera system from cartesian coordinate. Therefore, as a method of evaluating, using suggested algorithm, Cartesian Coordinate set as a basis, depending on its increase and decrease, recursive least square method is used according to increase and decrease on the subject to imaginary point. Therefore, when camera is attached to the end-effector of industrial robot has been applied to production location, with calibration mask that has more than 8 points arranged, its been approved that it is possible to determine position and orientation of cartesian coordinate of camera system even without a special measuring equipment.