Calibration system and method for robotic cells

摘要

A method for calibrating a robot cell which includes a camera 111, a robot arm 101 and a robot controller 113 which generates a virtual environment with a virtual camera and a virtual robot arm, comprises creating by the robot controller with the virtual camera a set of virtual snapshots of the virtual robot arm in the virtual environment in various poses, taking a plurality of real snapshots using the real camera of the robot arm in the real environment in various poses matching the virtual poses, comparing the sets of virtual and real snapshots to determine the closest matching pair of reference virtual and real snapshots, determining a location and/or orientation differences between the reference snapshots, adjusting the calibration of the virtual robot cell based upon the difference(s), operating the virtual robot arm and determining that the calibration of the virtual robot cell is within a predetermined required accuracy. Markers such as two dimensional barcodes 117 may be provided on the virtual and real robot arms.