We mounted an intel real-sense d435 to our robot.
We have seen RoboDK videos where stereo cameras and laser trackers are used to calibrate the robot.
We found lots of papers related to hand-eye calibration and rgb-d cameras.
However we struggle to implement a simple algorithm for hand-eye calibration:
We suggest something like:
1) Mark N (how many needed?) calibration-targets within the robots work area
2) Approach calibration-targets with robot and store as targets in RoboDK
3) Find pose, that has all calibration-targets in camera-view
4) Receive coordinates (x,y,z) for each calibration-target from camera (in camera-TCP)
5) [optional?] repeat 3-4 with different poses
6) Calculate calibration
Alternative for 1 (or 1&2 ?): use check-pattern board
We lack the math-skills for 6). Can someone point us towards a paper or some formulas how to calculate the camera-tcp?
We have seen RoboDK videos where stereo cameras and laser trackers are used to calibrate the robot.
We found lots of papers related to hand-eye calibration and rgb-d cameras.
However we struggle to implement a simple algorithm for hand-eye calibration:
We suggest something like:
1) Mark N (how many needed?) calibration-targets within the robots work area
2) Approach calibration-targets with robot and store as targets in RoboDK
3) Find pose, that has all calibration-targets in camera-view
4) Receive coordinates (x,y,z) for each calibration-target from camera (in camera-TCP)
5) [optional?] repeat 3-4 with different poses
6) Calculate calibration
Alternative for 1 (or 1&2 ?): use check-pattern board
We lack the math-skills for 6). Can someone point us towards a paper or some formulas how to calculate the camera-tcp?