Robot

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  • Check DH parameters

    • When the pose data transferred between the robot and the vision system is in the form of joint positions, a mismatch between the DH parameters of the real robot and the simulated robot introduces errors in the absolute accuracy of the robot.

    • Collaborative robots are often calibrated separately for DH parameters at the factory, leading to inconsistencies with the DH parameters in the robot manual.

  • Check robot absolute accuracy

    • The absolute accuracy of the robot can greatly affect the result of extrinsic parameter calibration.

    • In picking tasks with a relatively large working range, such as picking on planes and picking in deep bins, the robot absolute accuracy will also result in varying degrees of picking errors.

  • Check robot repeatability

    • In EIH scenarios, the image-capturing position is usually fixed, and therefore the robot repeatability significantly impacts the extrinsic parameter accuracy.

    • In tasks with a relatively small working range, such as assembly and conveyor belt unloading, attention should be paid to whether the robot repeatability meets the requirement.

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