US Patent Application 18323504. Calibration Method And Robot System simplified abstract
Contents
Calibration Method And Robot System
Organization Name
Inventor(s)
Kentaro Tsukamoto of Azumino (JP)
Kenji Matsuura of Matsumoto (JP)
Calibration Method And Robot System - A simplified explanation of the abstract
This abstract first appeared for US patent application 18323504 titled 'Calibration Method And Robot System
Simplified Explanation
The patent application describes a method for calibrating the coordinate systems of a robot and a camera.
- The method involves positioning a criterion point at the center of an image captured by the camera on a predetermined surface.
- The camera is then rotated around an imaginary axis passing through a control point on the robot arm.
- The criterion point is again positioned at the center of the image, and a reference point is derived based on the first rotation and the information from the first and third states.
- The camera is further rotated around a second imaginary axis passing through the reference point.
- The criterion point is once again positioned at the center of the image, and the position of the criterion point is derived based on the second rotation and the information from the first and fifth states or the third and fifth states.
- Finally, the calibration between the robot coordinate system and the camera coordinate system is performed based on the derived position of the criterion point.
Original Abstract Submitted
A method for performing calibration between a robot coordinate system and a camera coordinate system includes achieving a first state in which a criterion point at a predetermined surface is located at the center of an image captured with a camera, achieving a second state in which the camera is rotated by a first angle of rotation around a first imaginary axis perpendicular to the predetermined surface and passing through a control point at the arm, achieving a third state in which the criterion point is located at the center of the image captured with the camera, deriving a reference point that is a provisional position of the criterion point based on information on the first and third states and the first angle of rotation, achieving a fourth state in which the camera is rotated by a second angle of rotation around a second imaginary axis perpendicular to the predetermined surface and passing through the reference point, achieving a fifth state in which the criterion point is located at the center of the image captured with the camera, deriving the position of the criterion point from the information on the first and fifth states and the first and second angles of rotation, or the information on the third and fifth states and the second angle of rotation, and performing the calibration between the robot coordinate system and the camera coordinate system based on the derived position of the criterion point.
