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4.2.3. Methods of calibrating according to the robot operation

4.2.3. Methods of calibrating according to the robot operation​

 

It is described above that there are two methods of calibrating the Pick-it equipment to the robot coordinate depending on the mounting position of the camera. The two methods differ only in the mounting position of the camera, and the calibration process is exactly the same.

 

When performing the calibration, it is required to take a total of five different positions and postures and send the PICKIT.FCP command each time. For this process, there are two methods of performing the calibration according to the method of the robot taking a posture and sending a command.

 

(1) Change the robot position manually and execute the PICKIT.FCP command.

 

(2) Store five pose variables in advance and execute MOVE and PICKIT.FCP commands in JOB file repeatedly.

 

The method (1) is to manually execute the PICKIT.FCP command in the JOB after manipulating the position and posture of the robot while looking at the Pick-it camera screen. The method is advantageous in making it possible to flexibly carry out calibration according to the given situation while looking at the Pick-it control screen after manipulating the robot position and posture. This method is convenient in a situation where only one robot needs to be calibrated.

 

The method (2) is to store five different postures and positions in the pose variable in advance and execute the MOVE and PICKIT.FCP commands in the JOB file. Considering that it is required to perform work after storing the positions and postures in advance, meaning that if calibration cannot be carried out because the robot pose is wrong, you have to perform the whole calibration work again starting from the point of storing the robot pose, which is disadvantageous using the method. However, since the robot pose and calibration process are stored as a JOB file, it is possible to apply the JOB file without modifying it as long as the robot and workstation are allocated in the same way, which is advantageous in using the method.

 

The detailed description of the process of the two methods will be provided in the following examples of JOB files.