4.2.1. Procedures for calibration

4.2.1. Procedures for calibration

 

To use the Pick-it equipment, it is required to calibrate the Pick-it coordinate to the robot or base coordinate. The Pick-it camera calibration is performed before shipment, so there is no need to do it separately. (Refer to the Pick-it Manual.)

 

However, when the Pick-it equipment is shipped, the coordinates that the Pick-it equipment will use to calculate the workpiece position and posture are not calibrated to the robot coordinate. So after the robot and Pick-it equipment are physically installed, it is required to calibrate the Pick-it coordinate to the robot coordinate.

 

For this, Pick-it provides a way for calibration to be performed automatically through the use of the calibration plate instead of the manual method in which the user directly inputs coordinate values ​​in the Pick-it setting screen. In the automatic calibration method, the camera will take a picture of the calibration plate at various positions and postures and then use the acquired robot pose information in performing calibration.