Řešení problematiky vzájemné kalibrace prostoru robota a naváděcí kamery

Abstract

This work is devoted to solving the problem of mutual calibration of the subordinate area of the KUKA robot and the guidance camera. The work analyzes the methods of camera and camera image calibration using the built-in functions of the WorkVisual and VisionTech programs and the calibration of the TCP robot. The task is performed on the KUKA ready2 Educate training cell. The cell contains a robotic arm KUKA KR3 R540, a robotic controller KR C4, a guidance camera located above the robot's workspace. Camera image processing using the built-in functions of WorkVisual and VisionTech. The created robotic operations use different tools and frames, types of movements and speeds. The resulting program starts the operation in accordance with the specified parameters. The resulting program was tested on a real device and in a robotic cell simulation.