Method, electronic device and computer readable storage medium for calibrating a robot

An electronic device, comprising:

• at least one processing unit;
• and
• at least one memory coupled to the at least one processing unit and storing instructions executable by the at least one processing unit, the instructions, when executed by the at least one processing unit, causing the device to perform acts comprising:
• obtaining a first set of data related to at least one of position and orientation of at least three calibration objects, the at least three calibration objects being non-collinear to each other in an object coordinate system when a target object is in a first state, and the at least three calibration objects being in a fixed relation to the target object;
• determining a second set of data related to at least one of position and orientation of the at least three calibration objects when the target object is in a second state different from the first state;
• determining a transformation relationship between the first set of data and the second set of data;
• determining a calibrated object coordinate system based on the object coordinate system and the transformation relationship;
• and
• controlling the robot to process the target object in a predetermined way under the calibrated object coordinate system.

A computer readable storage medium having computer readable program instructions stored thereon which, when executed by a processing unit, cause the processing unit to perform acts comprising:

• obtaining a first set of data related to at least one of position and orientation of at least three calibration objects, the at least three calibration objects being non-collinear to each other in an object coordinate system when a target object is in a first state, and the at least three calibration objects being in a fixed relation to the target object;
• determining a second set of data related to at least one of position and orientation of the at least three calibration objects when the target object is in a second state different from the first state;
• determining a transformation relationship between the first set of data and the second set of data;
• determining a calibrated object coordinate system based on the object coordinate system and the transformation relationship;
• and
• controlling the robot to process the target object in a predetermined way under the calibrated object coordinate system.