Calibration method for position relation between visual sensor and tactile sensor and application of calibration method

The invention belongs to the technical field of multi-mode sensor position relation calibration, and discloses a calibration method of a position relation between a visual sensor and a tactile sensor and application thereof, and the method comprises the following steps: (1) assembling a calibration block; (2) the tactile sensor measures a point cloud model of a contact area of the tactile sensor and the calibration block, an ICP (Inductively Coupled Plasma) algorithm is adopted to perform registration with a pre-imported original point cloud model of the model to obtain a rotation matrix # imgabs0 # and a translation vector # imgabs1 # of a calibration block coordinate system relative to a tactile sensor coordinate system, and a camera shoots an image A1 containing the calibration block; extracting more than three groups of corresponding points in a calibration block coordinate system and a camera coordinate system based on the reference image and the image A1 of the calibration block; and calculating to obta