Robot calibration apparatus for calibrating a robot arm

摘要

An encoded calibrating plate is fixed on the working environment of the robot arm and has a chessboard pattern with each square in the chessboard pattern being an encoding. The encoding indicates direction or position on the encoded calibration plate. A visual system of the robot arm captures an image of the encoded calibrating plate, calculates the coordinates encoding of the encoded calibration plate, and positions the visual system to calibrate a positioning error of the robot arm and the visual system.

主权项

1. A robot calibration apparatus, comprising:
a robot arm having a fixed end fixed on a base and a movable end; a visual system configured to capture an image of a working environment of the robot arm; a controller configured to control a movement of the robot arm according to the image captured by the visual system; and an encoded calibrating plate fixed on the working environment of the robot arm, the encoded calibrating plate having a chessboard pattern, the chessboard pattern having encodings to indicate an orientation of the encoded calibrating plate and positions on the encoded calibrating plate; wherein the visual system captures images of encodings of the encoded calibrating plate to determine moving errors of the robot arm.