提出了同时确定手眼关系以及机器人坐标系到世界坐标系关系的两种算法。和现有算法相比,给出的算法分别基于对偶四元数和矩阵直积理论,均可一次计算出标定方程的旋转部分和平移部分,不存在误差的传递问题。仿真结果表明了算法的有效性,这些结论对于类似问题的求解具有一定的参考价值。 Two algorithms are proposed to determine the hand-eye relationship and the relationship between the robot coordinate system and the world coordinate system simultaneously. Compared with the existing algorithms, the proposed algorithm can calculate the rotation part and the translation part of the calibration equation based on the dual quaternion theory and the matrix direct product theory respectively. There is no error transfer problem. The simulation results show the effectiveness of the algorithm. These conclusions have certain reference value for solving similar problems.