Automated Calibration of Robot Coordinates for Reconfigurable Assembly Systems

To achieve higher reconfigurability of an assembly line, quick plug-in and plug-out of devices such as robots is essential. When a new device is installed into the assembly line, calibration should be made. This research deals with an automated calibration system of relative position/orientation based on the Direct Linear Transformation method using two CCD cameras. The cameras are freely positioned, and then a set of motions is commanded to each manipulator. By detecting the motion with the cameras, the relative position of the two robots is obtained. The resultant accuracy is 0.16 mm rms at the best.