Hand-eye calibration method and hand-eye calibration device for robot arm

A hand-eye calibration device, adapted to a robot arm and comprising:

• a transceiver;
• and
• a processor, coupled to the transceiver and configured to:
• obtain a first mapping relationship between a base of the robot arm and a terminal of the robot arm and a second mapping relationship between a camera and a target object through the transceiver, wherein the camera is installed at a fixed position to capture a fixed monitored region, and the target object is placed in the fixed monitored region;
• sequentially update a third mapping relationship between the terminal of the robot arm and a tool set mounted on the terminal and a fourth mapping relationship between the camera and the base in each dimension based on a scale, to minimize an error between a position of the target object in an image captured by the camera and a position of the tool set;
• and
• in response to the error being convergent and the scale less than or equal to a scale threshold, output the third mapping relationship and the fourth mapping relationship calibrated by the scale through the transceiver.