# Hand-Eye-Calibration

Following the installation of the camera, regardless of whether it is dynamic or statically mounted, a so-called hand-eye calibration is necessary. The hand-eye calibration allows to determine the position of the camera in the robot’s coordinate frame (static camera mount) or the transformation between the camera and the robot’s endpoint (dynamic camera mount), respectively. These information are required to transform any skill results from the camera’s coordinate frame to the robot’s frame allowing the robot to manipulate objects identified by the robobrain® system. Hence the name hand-eye calibration.

For static assembly, the calibration plate is screwed to the robot flange, while for dynamic assembly it is placed in front of the robot. During the calibration process, different viewing angles of the camera on the calibration plate are necessary.

{% hint style="info" %}
*The calibration process should be carried out with every mechanical change to the tool flange or gripper, which might affect the camera position. Repeated mounting in the same position should be followed up by a recalibration!*
{% endhint %}

<mark style="color:blue;">**Starting the calibration process on the robobrain®**</mark>

On robobrain® the calibration process is started via the <mark style="color:blue;">Calibration</mark> page (<mark style="color:blue;">**Option - Camera - Calibration**</mark>). By navigating to this area, information about the current calibration is displayed. After clicking on <mark style="color:blue;">Calibrate</mark>, a new calibration is started, and a live image of the camera is displayed.

<figure><img src="/files/TuTtHidqaK0ozgN5w8bV" alt=""><figcaption><p>Information about the last Calibration on the Calibration Page</p></figcaption></figure>

After the calibration process has been started on the robobrain®, a status is displayed in the lower right corner. Green checkboxes indicate a high calibration quality.

<figure><img src="/files/6wIu31hLbVkUGrmiESr8" alt=""><figcaption><p>Live view of the Calibration</p></figcaption></figure>


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