FANUC: Hand-eye-calibration
Last updated
Last updated
The programm structure for the hand-eye-calibration is very simple. It basically consists of three different parts.
Check the calibration section for general information about the hand-eye-calibration of the robobrain®.
This part ist to make the basic program settings and to establish the connection (Line 5). Also the command for starting the calibration is done here (Line 6). In this command you have the choice between "Robot Mounted" and "Stationary Mounted".
In the next section of the program the goal is, to move to 5 different poses and take a capture of the calibration plate from 5 different angles.
These points have to be according to your setup (Line 8).
The wait after moving the robot (Line 9) is to give the system time to stop movements and vibrations before taking a capture. This helps to increase the accuracy and makes the process repeatable.
After moving to the desired position a capture is taken to set the pose to the robot. It is necessary to define wich of the 5 steps the robot is at. (Line 10)
The end of the program consists of the "calib finish" comand. This ends the calibration and on the robobrain® results are calculated.
As a last step, the connection to the robobrain® is closed again. (Line 29)
The .ls-file for a calibration program is also provided a .zip-folder in the Downloads.
