Explanation of the Calibration for Truss Robots

Using the Extrinsic Parameter File

The calibration process of the truss robot generates an extrinsic parameter file for the calibration point, and Mech-Vision will calculate the dynamic extrinsic parameters in real time according to the pose of the truss robot. To calculate the dynamic extrinsic parameters in Mech-Vision projects, Steps Transform Point Clouds for Truss and Transform Poses for Truss need to be used to convert point clouds/poses in camera reference frame to those in the truss robot reference frame.

When the project is running, please ensure that the truss robot can communicate normally with Mech-Mind Vision System. In addition, the robot program should provide the robot flange pose when triggering the Mech-Vision project to run, so that the “Capture Images from Camera” Step can successfully obtain the pose of the robot flange when capturing images.

Note

If the truss robot uses the left-handed coordinate system, the Mech-Center software automatically converts the robot flange poses sent by the robot program to those in the right-handed coordinate system, and then sent them to Mech-Vision for vision processing. When the vision result is returned, the Mech-Center software first automatically converts the poses in the truss robot reference frame output by Mech-Vision to the poses in the left-handed coordinate system, and then returns them to the robot program.