Laser camera TCP

Measurement checklist:

Acquire a test plate with excatly 90 degree angle
Calibrate the position of the test plate with LSQ
Perform a search with an initial guess for TCP in Delfoi
Download the search program and run it with robot
Fix the guessed TCP by the amount of the search correction
Repeat searches and corrections until search correction result is close to 0

Performing the calibration

For the camera laser, there is no specific calibration algorithm, but instead it needs to be performed manually using an iterative method. In this method, the laser TCP is moved manually after individual searches as long as it's needed to find a position where it performs the searches successfully. For this a test plate with exactly 90 degree angle is needed.

Laser test plate needed for iteration

Note - Measurement errors

Make sure that the laser is attached rigidly to the robot arm.

Iteration method

First make a guess for the laser TCP in Delfoi program and create a 2D search for the test plate. Download this program and run the search with the robot. See the search results or corrections from the robot code (new corrected coordinates / P-varibles / etc..) and move the laser TCP in Delfoi by the amount of the search correction. Repeat this until search corrections are close to 0 and the searches work well.

TCP for camera laser

Laser TCP

How to calibrate

Calibrate plate position in Delfoi with LSQ

Create a search in Delfoi and run it with robot

FIx TCP by the amount of search correction

Repeat until TCP is accurate enough

Laser camera calibration done!