Camera calibration

Description

The end effector and the camera must be calibrated for precise robot operation, allowing the system to accurately translate visual data into coordinated movements.

 

Calibration is performed by recording camera images and matching them with the robot poses. A special calibration board, with fixed positions, is used to recognize camera orientation.

 
Adjusting robot payload

Ensure that you are using the correct Payload and Center of Gravity (CoG). Incorrect payload may result in Robot arm movement when pressing the Freedrive button.

You can use the Payload Estimation Wizard in PolyScope to assess the Payload and CoG.

 
Preparing for calibration

A calibration board is required to calibrate the camera and is provided with the AI Accelerator. It is also possible to use a custom calibration board.

  • Position the calibration board inside the robot reach area, where you can move the robot arm maintaining the distance of 20 to 80 cm between the camera and the board.

  • Do not make any adjustments to the position of the calibration board during the calibration.

  • The calibration board must be evenly lit. Avoid shadows, for example from robot arm or operators body.
To calibrate the camera

In the AI Accelerator UPCap select Camera Configuration.

  1. Select the camera and tap Calibrate.

  2. If you are using the provided calibration board check the Default, otherwise enter dimensions of your custom board.

  3. From the Calibration tab follow the instructions on the screen to capture minimum 12 images of the calibration board from different angles.

    For best results try to move all the joints of the robot arm between the captures.

  4. Tap Confirm and wait for the calibration to complete.
Repeating the calibration

It is necessary to perform the calibration again after making any changes that affect the position of the camera on the robot. These might be any adjustments to the camera mount, replacement of the gripper or tightening of the bolts that hold the camera on the tool flange.

You can repeat the calibration by tapping Replay. The robot automatically moves through all manually recorded poses and re-takes images of the calibration board.

Stand outside the robot reach, robot will move automatically.