---
publication_id: "OT-2026-000001014"
title: "Method for calibrating a mobile robot"
published_at: "2026-09-15T19:03:44.219775Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001014"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1692"
  - "b25j9/1692"
  - "b25j19/02"
  - "b25j19/023"
  - "b25j19/023"
  - "b25j5/00"
---

# Method for calibrating a mobile robot

## Abstract

A method for calibrating a mobile robot includes installing a 2D camera at an end of a mechanical arm, moving the 2D camera to a plurality of different poses by the mechanical arm, and capturing images of a calibration plate on a workbench at the plurality of different poses. The method includes calculating a transfer matrix of the 2D camera relative to the calibration plate at each pose of the plurality of different poses based on the images. A transfer matrix end T camer of the end of the mechanical arm relative to the 2D camera is calculated based on the transfer matrix of the 2D camera relative to the calibration plate, and a transfer matrix base T object of a base of the mechanical arm relative to the calibration plate is calculated based on the calculated transfer matrix end T camer and the transfer matrix of the 2D camera relative to the calibration plate.