URCap: Calibration node

Preparing the Robot Program

To be able to carry out a calibration with the robot, a new robot program is started and the program node robobrain: Calibration is used from the URCaps area. This is a prepared robot program for the calibration process. This must be completed to finish this step.

Right at the beginning, the mount type of the installed camera is chosen. In our case dynamic is selected.

Calibration – Pre-Installed Program Node

Teaching the waypoints

Five different waypoints have to be defined in the robot program. These waypoints should allow the vision system to take a picture of the calibration plate from different angles. It must be ensured that the calibration plate is positioned in front of the camera and is always completely visible in the image.

Defining the Viewing Angle in the Robot Program

Exemplary camera positions, which are all arranged around the calibration plate.

Example Camera Positions

After all waypoints have been defined the robot program can be executed. Please reduce the speed of the robot to minimize the risk of introducing vibrations and thus moving the calibration plate when running the calibration program.

In order to achieve the highest possible accuracy during calibration, care should be taken during the process to ensure that the calibration plate is as close as possible to the camera at each step.