Camera Calibration in High-Speed Robotic Assembly Operations

Featured Application The presented methodology can be used in all robotic assembly tasks where the camera position changes during operation, such as tasks where the camera is mounted on the robotic arm near the end-effector-for example, in fuse box assembly applications.Abstract The increase in positioning accuracy and repeatability allowed the integration of robots in assembly operations using guidance systems (structured applications) or video acquisition systems (unstructured applications). This paper proposes a procedure to determine the measuring plane using a 3D laser camera. To validate the procedure, the camera coordinates and orientation will be verified using robot coordinates. This procedure is an essential element for camera calibration and consists of developing a mathematical model using the least square method and planar regression. The mathematical model is considered necessary as a step towards optimizing the integration of robotic vision systems in assembly applications. A better calibrated camera has the potential to provide better recognition results, which are essential in this field. These improved results can then be used to increase the accuracy and repeatability of the robot.