calibrating

    HELLO

    i am working with KUKA robot kr3 with KR C2 HMI. the position of the robot had been changed and the position of the camera had been changed as well, so how can calibrate tool and base coordinate again ?? what i need to know before the calibration and how can i define the origin point again ?

    thanks in advance

    yes KSS Version
    webcam camera and its fixed to a certain position
    chess board is printing in A3 paper so the workspace of the robot is limit to that area
    the webcam is connected to PC to take snapshot from the live video and then the robot can move to a certain postion to suck the object by the vacuum(tool) according to choosing position from the operate by visual studio

    webcam is runing in c# program
    i am trying first to calibrate the tool by 4 point xyz but when i trying to have four different directions, the shown error is too big so i have to repeat the calibration again and again.
    i attached pen in the tip of the flange to make it more accurate but unfortunately does't work either. so is there different solutions for that?
    thanks

    That is tool calibration
    It has nothing to do with camera calibration


    If tool calibration does not work, check if correct MADA is used and if robot is mastered correctly


    To calibrate camera you need to use specific procedure for your system. Normally this means:


    1. measuring base using calibrated tool,
    2. Create camera base that coincides with it
    3. Teach model of part to be recognized
    4. Teach reference position for model
    5. Test


    Again, that was very generic, you need to see exact way to do tis on your system. You need to contact developer who created it in the first place

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    thanks for answering


    is there chance to change the tool and base calibration from the kuka software to be calibrated from c# for example ?? so for next time when the robot moved from his position and i need to calibrate it again i don't have to do it from the kuka software i want to mange that from c# !!

    Which calibration? There are multiple calibrations that "stack" here.

    There's the TCP, which is entirely internal to the robot (there are some people who have used vision systems to automate this process, but the programming is extremely complex and requires a lot of deep KUKA knowledge).

    Then there's the Base, which (for a fixed-mount camera) usually has to be set up to match what the camera uses. And since we don't know anything about your vision system beyond "it uses a C# program", we can't offer any specific details. Usually, this is done by locating 3-4 points in the camera's working plane, obtaining the coordinates of those in both the camera coordinate system and the robot's $WORLD coordinate system, then performing a best-fit match to align them.

    Then there's the camera's own calibration, which usually involves calibrating its pixel-to-mm calibration, lens-aberration compensation, and 3DOF or 6DOF alignment to the coordinate system that the robot and vision share.

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