Integrated Vision -- Hand/Eye calibration for a robot-carried camera?

  • So... this is puzzling. I'm trying to calibrate a robot-carried camera for guidance, but the Integrated Vision manual only seems to have instructions for calibrating the robot to a fixed camera: make a WObj on the grid, point the camera at the grid, hit Calibrate. There's nothing about doing a multi-pose calibration to create a TCP for the camera to generate corrective motions in the right directions.

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  • So... this is puzzling. I'm trying to calibrate a robot-carried camera for guidance, but the Integrated Vision manual only seems to have instructions for calibrating the robot to a fixed camera: make a WObj on the grid, point the camera at the grid, hit Calibrate. There's nothing about doing a multi-pose calibration to create a TCP for the camera to generate corrective motions in the right directions.

    SkyFire did you ever gain any insight to this? In the past I have taught work object and then moved up to calibration position and used the posinv function to generate TCP. Agreed there should be something to generate this automatically to gain accuracy



    ! Teach this Point at 0,0 For Vision (At Origin Position for CalPlate, with rotation aligned to the frame)

    MoveL pCal_Vision, v500, fine, tool0\WObj:=wobjCalPlate;

    ! !

    ! ! Calculate Offset from tool0 to Wobj Origin

    poseTCP:=PoseInv([pCal_Vision.trans,pCal_Vision.rot]);

    ! !

    ! ! Set Cam Tool TCP at WorkObject Origin

    tVision.tframe.trans:=poseTCP.trans;

    tVision.tframe.rot:=poseTCP.rot;

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