Pre-calibration Checks

Check that the robot base is firmly secured. If the base is loose, the robot may shake during movement, affecting the reliability of the calibration data. Make sure that the base and mounting surface remain stable while the robot is moving.

Make sure that the camera is properly installed and can capture images normally. Make sure that the calibration sphere is intact, can be securely installed on the robot end, and can enter the camera’s field of view.

Make sure that the camera mounting frame and robot flange bracket are ready, and that the camera, mounting frame, and calibration sphere can all be securely installed. Do not move or adjust these components before calibration.

When designing and installing the flange adapter, position the calibration sphere as far in front of the flange as possible, that is, along the positive Z-axis of the flange coordinate system. Minimize the offsets along the X- and Y-axes to reduce the risk of collision during calibration.

Make sure that the camera has been hand-eye calibrated before starting robot calibration.

If hand-eye calibration has not been completed, install the calibration board on the robot end flange and complete hand-eye calibration. After hand-eye calibration is complete, restart the robot calibration workflow.

Use Mech-Vision to perform robot calibration. The robot must support master-control communication, and the corresponding communication configuration must be complete. Refer to the master-control communication instructions for the corresponding robot brand. After connecting the robot, make sure that Mech-Vision can read the robot status and joint positions, and that the robot can receive joint position motion commands.

Make sure that there is enough space for the robot to move safely and that the emergency stop device is available. Before calibration, make sure that the robot base, camera mounting frame, and calibration sphere are all securely installed.

During calibration, the robot’s cable package may collide with nearby objects or be pulled as the robot moves. If site conditions allow and removing it does not affect safe robot operation, remove the cable package before calibration to make calibration easier.

Camera temperature drift affects the values of all point cloud dimensions, and therefore affects camera repeatability and absolute accuracy.

Therefore, warm up the camera before robot calibration. For details, refer to the Warm-up Tool.