Robot

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.

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.

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.