AUBO (ARCS) Automatic Calibration
After you set up Standard Interface communication, you can connect the robot to perform automatic calibration. The overall workflow of automatic calibration is shown in the figure below.
Special note
During the calibration procedure, when you reach the Connect the robot step and the Waiting for robot to connect... button appears in Mech-Vision, perform the steps below on the robot side. After you perform the steps, proceed with the remaining steps in Mech-Vision.
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1. Create the Calibration Program
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If the robot is not powered on, on the Home screen of the teach pendant click Power On, confirm the payload, then click . If the robot is already powered on, skip this step and continue to the next one.
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On the teach pendant interface, click Programming, select Add before start, and clear Loop program forever. The Add before start program segment appears in the program area on the right.
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Click Plug-in, select Empty under Add before start, click initSocket, and add mm_init_socket to the program. On the Command tab, enter the IPC IP address in IP and the host port number configured in Mech-Vision in Port.
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Under Robot Programming, click autoCalib to add mm_auto_calib to the program. Fill in Move Type and Wait Time according to the actual scenario. For detailed parameter explanations, refer to the autoCalib command.
2. Teach the Calibration Starting Point
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On the Programming screen, click .
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On the following screen, move the robot to the calibration starting point, then click OK to return to the Programming screen. At this point, Waypoint_0 is the calibration starting point.
You can use the position of the robot in the Check the Point Cloud Quality of the Calibration Board step as the calibration start point.
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Click Save to save the preceding program.
3. Run the Calibration Program
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Click Speed in the lower-left corner to display the speed slider. Adjust the speed appropriately to prevent the robot from moving too fast.
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Click Run in the lower-left corner, then select Run from start point.
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When, in the Calibration window in Mech-Vision, the current status changes to connected and the button Waiting for the robot to connect... changes to Disconnect robot, click Next at the bottom.
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Perform Step 4 of Start calibration (which is Set motion path) and the subsequent operations based the following links.
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If the camera mounting mode is eye to hand, see this document and proceed with the relevant operations.
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If the camera mounting mode is eye in hand, see this document and proceed with the relevant operations.
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