I started researching Robotic Vision topics for a while but I found myself a bit stuck. My background is in the Computer Vision and Machine Learning fields but I lack the knowledge in robotics.
My goal for now is to make an eye-in-hand system perform pick-and-place movements. Something like this: https://www.youtube.com/watch?v=GOY5VED54zQ
I'm pretty sure the key to achieve this is the calibration phase but out of all the resources I found I could not understand how this is done. I get that I need to find transformations between camera frame to robot frame but I have no idea how to get them. Any paper that I read about this gets me lost in the math part which I find very hard to understand for now.
What I know:
- how to deal with problems in the camera plane(i.e detect objects)
- how to control the robot which is an UR-3 cobot
What I don't know:
- how the camera world points relate to the robot world points
Is there a general approach to this problem? Is there any library that can help me with this?
Any study materials/tutorials or explanations are highly appreciated. Thank you in advance.