Camera-Based Method for Identification of the Layout of a Robotic Workcell

Featured Application A fast and low-cost process for automated identification of positions of workcell components, including robots. Suitable for rapid deployment of robotic applications without a need of previous simulations or CAD modeling. In this paper, a new method for the calibration of robotic cell components is presented and demonstrated by identification of an industrial robotic manipulator's base and end-effector frames in a workplace. It is based on a mathematical approach using a Jacobian matrix. In addition, using the presented method, identification of other kinematic parameters of a robot is possible. The Universal Robot UR3 was later chosen to prove the working principle in both simulations and experiment, with a simple repeatable low-cost solution for such a task-image analysis to detect tag markers. The results showing the accuracy of the system are included and discussed.