Robot Vision Calibration Technique
Original Publication Date: 1988-May-01
Included in the Prior Art Database: 2005-Feb-15
Robot vision systems in which the camera is carried on the robot arm require that the optical axis of the camera be accurately known with respect to the robot geometry. This is a time-consuming measurement and set-up problem which is difficult to perform manually with sufficient accuracy. This article describes a technique and features by which this task may be performed automatically under software control at any desired point in the robot program. Also the axial alignment of the end effector with the robot Z axis is checked coincidentally. In the robot system in which this calibration technique is used, the camera is preferably attached to the theta 2 arm at a known distance from the Z axis when viewed in plan.