公开(公告)号：US10780585B2

公开(公告)日：2020-09-22

申请号：US15860071

申请日：2018-01-02

Applicant: Samsung Electronics Co., Ltd.

Inventor： Soon Yong Park ,  Kyung Shik Roh ,  Sung Hwan Ahn ,  Suk June Yoon ,  So Hee Lee ,  Young Pil Jeon

IPC: B25J9/02 ,  B25J9/16 ,  G06T7/70 ,  G06T7/80

Abstract: A robot for performing hand-eye calibration is provided. The robot includes a robot arm including a plurality of joints, a plurality of arm sections, and an end effector, a communication interface, and a control circuit. The control circuit controls the robot arm to place the external object on a worktable after the external object is grasped by the end effector, acquires coordinates of a central point of the external object in a coordinate system of the camera from an image of the external object, and calculates a calibration parameter for defining a relation between a coordinate system of the end effector and the coordinate system of the camera, based on coordinates of the end effector in a base coordinate system of the robot and coordinates of the central point of the external object in the coordinate system of the camera when the external object is placed on the worktable.