VisionHub
3D Guidance System
Overview (Cont.) |
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3D Guidance System Overview
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7. Calibration
Calibration of the VisionHub is an extremely
simple process that is performed at set-up time. The VisionHub is calibrated to the robot
itself, and not to an artificial external coordinate system. No extra jigs, fixtures, or
equipment such as theodolites are required. Because the calibration sequence discovers the
targets true position relative to the tool center, precise location of the target is
unimportant.
A rugged, LED target provided by VSII is
mounted on the end-effector of the robot. The robot is then taught to position the target
within view of the system smart sensors. The robot is taught to move the target through a
series of jogs and rotations. At each position, the smart sensors capture images of the
target, and records the positions of the features found. The VisionHub controller then
uses this data to build a calibration table for each group of cameras that maps the 3D
coordinates found into the coordinate space of the robot. If at sometime during cell
operation the position of a smart sensor is moved, the system can quickly be
re-calibrated.
The process is repeated for each robot in the cell. The calibration per robot takes
about 3 minutes. The procedure is accomplished using the web page interface or by issuing
appropriate commands through the robot teach pendant.
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