Robot-Camera Calibration Tool
Robot-Camera Calibration Tool is used to find the transformation between the camera (PhoXi 3D Scanner) and robot coordinate spaces. Computed matrix transforms points from camera coordinate system to robot coordinate system.
You need a licensed USB Dongle to run the application.
Calibration process
Please follow the Robot Camera Calibration User Manual, you can download it [[1] here]
Testing the result
To see the result of applying the transformation on camera point, hit Test button. This will trigger new scan, locate calibration ball and transforms its position into robot coordinates. The output is shown in output console. This process will not consider the gripper rotation, because in real case scenario the misplacement vector changes with every picked object.
Validating the transformation accuracy after computation
In this scenario, we put the calibration ball inside the gripper, collected calibration points and ran computation of calibration matrix. We did not moved the calibration ball. To validate the transformation accuracy, we will go through the same robot positions and compare them with values calculated by Test button.
- The first testing position in robot space is [0, -600, 100] and the rotation of gripper expressed as rotation vector is [3.14159, 0, 0].
- The misplacement vector of our computation was: [-0.0422, -8.0056, 4.4710] (this information is shown in output console after computation the transformation matrix)
- We put the robot in first testing position and hit
Testbutton:- Calculated ball position in robot space was [-0.435708, -592.207, 95.3183].
- We add misplacement vector to calculated position, the resulting point is [-0.47791, -600.213, 99.7893] (misplacement vector should be added according to the gripper rotation. In this example, we simply summed the X,Y,Z values)
- The transformation accuracy is thus less than 0.6 mm.
