Sensor-robot coordinate system conversion method and robot hand and eye calibration method

The invention provides a sensor-robot coordinate system conversion method and a robot hand and eye calibration method, and is applicable to the technical field of robot visual calibration. The coordinate system conversion method comprises following steps: S1, a tail executor rotates around the x axis, the y axis and the z axis of a robot based coordinate system, on the basis of rotation matrix, Po, Ps, Pc and alpha are calculated, and corresponding position matrixes of PRo, PRs, PRc and PRalpha are calculated; S2, on the basis of the position matrixes of PRo, PRs, PRc and PRalpha, the transformation matrix PRw obtained through converting a sensor coordinate system into a robot coordinate system is calculated, the calculation formula of the PRw is that PRw=(PRs*PRalpha*PRc)*PRo, robot motion is based on the robot-based coordinate system, picture pose information obtained by a laser linear scanning sensor is relative to the sensor coordinate system, in order to ensure that the robot can accurately move to t