Automatic calibration of assembly robots for instantaneous installation 'plug & produce'

摘要

Reconfigurability is essential to complete highly flexible and agile assembly systems. Easier installation of assembly devices is indispensable for easier reconfiguration. In this paper, we propose an automated calibration method based on the 'plug & produce' concept to support device installation for the relay of parts. We use two cameras to measure three-dimernsional coordinates of two assembly devices for the calibration and obtain the relative positional relationship between the two devices. We also present experimental results on the accuracy of the calibration between two robot manipulators.