Camera to Robotic Arm Calibration

Matlab toolbox for finding the transformation from a camera to a robotic arms base
Updated 11 Jun 2016

The method operates by finding the parameters that minimize the difference in the position of the checkerboard given by the camera and arm when it is projected into the cameras coordinate system. For more details on how the calibration operates see

Calibration guide
1) Download the code

2) Obtain a checkerboard

3) Rigidly mount the checkerboard to the robots end effector

4) Move the robotic arm into a new pose where the entire checkerboard can be seen from the camera

5) Capture the camera image and record the arm base to end effector transformation.

6) Repeat steps 4-5 at least 10 times (20+ times is recommended)

7) Run the calibration code using CalCamArm.m

8) The Calibration should be complete. For more details and optional inputs / outputs run "help CalCamArm"

Any issues / comments / ideas / etc give me an email at

Cite As

Zachary Taylor (2024). Camera to Robotic Arm Calibration (, GitHub. Retrieved .

MATLAB Release Compatibility
Created with R2013a
Compatible with any release
Platform Compatibility
Windows macOS Linux

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Version Published Release Notes

Updated to include link to pdf

To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.