Hand-eye relation and tool center calibration method for three-dimensional vision guided robot machining

The invention discloses a hand-eye relation and tool center calibration method for three-dimensional vision guided robot machining. A ball is adopted as a calibration tool to achieve calibration of the tool center. During calibration, one ball is fixed in the visual field of the camera, and the other ball is installed at the tail end of the cylindrical simulation cutter. The tail end posture of the robot is changed for multiple times of ball collision, and meanwhile a camera collects spherical point cloud to fit the center of the ball. Based on the position and posture parameters and the sphere center distance parameters of the robot, the current tool nose, namely the sphere center of the tail end of the cylindrical simulation tool, and a hand-eye matrix of a three-dimensional vision camera and a robot base coordinate system are calibrated at the same time; according to the method, the high calibration cost caused by the fact that the needle tip is easy to wear in a traditional method can be avoided, the tool