Hand-eye calibration method and device without robot movement

The invention discloses a hand-eye calibration method and device without robot movement. The hand-eye calibration device comprises a square plane light source, a glass checkerboard calibration plate and a calibration plate fixing device provided with a laser tracker target ball seat; the glass checkerboard calibration plate is fixedly connected with the calibration plate fixing device; and the structures above are sequentially mounted on the upper surface of the square plane light source. The hand-eye calibration device is simple to operate; errors of robot movement are reduced by operation of the hand-eye calibration device; and the hand-eye calibration device is high in accuracy, can be applied to a parallel robot or a robot with the degree-of-freedom constraint limitation, and is wide in application range. 本发明公开了一种无需机器人运动的手眼标定方法及装置，所述手眼标定装置包括正方形平面光源、玻璃棋盘格标定板和设置有激光跟踪仪靶球座的标定板固定装置，所述玻璃棋盘格标定板和所述定板固定装置固定连接，以上结构依次安装在所述正方形平面光源的上表面，本发明操作简单，且通过手眼标定装置的运行会减少机器人运动的误差，精度较高，可以应用于并联机器人或有自由度约束限制的机器人上，适用范围广。