User Manual

6.7.3 Calibration routine
The general hand-eye calibration routine consists of three steps, which are illustrated in Fig. 6.7.4. These three
steps are also represented in the Web GUI’s guided hand-eye-calibration process (Section 4.5).
Set parameters
e.g., grid width, height.
1.
Move robot
to new calibration
position.
2a.
Calculate calibration
transformation.
3.
Send robot pose
to hand-eye calibration
component (filling slots).
2b.
repeat 3x or more
(x,y,z)
(qx,qy,qz,qw)
+
slot_0
(x,y,z)
(qx,qy,qz,qw)
+
slot_1
(x,y,z)
(qx,qy,qz,qw)
+
slot_2
Slots with robot poses and
corresponding camera images
(different views on
calibration grid)
Fig. 6.7.4: Illustration of the three different steps involved in the hand-eye calibration routine
Step 1: Setting parameters
Before starting the actual calibration routine, the grid size and sensor-mounting parameters have to be set to the
component. As for the REST-API, the respective parameters are listed in Parameters (Section 6.7.4).
Web GUI example: The Web GUI offers an interface for entering these parameters during the first step of the
calibration routine as shown in Fig. 6.7.5. In addition to grid size and sensor mounting, the Web GUI also
offers a Pose setting to be defined by the user. It specifies the format used for reporting the robot poses
in the upcoming step 2 of the calibration process, either as XYZABC for positions and Euler angles, or
XYZ+quaternion for positions plus quaternions for representing rotations. See Pose formats (Section 13.1)
for the exact definitions.
Note: The Pose parameter is added to the Web GUI as a convenience option only. For reporting poses
programmatically via REST-API, the XYZ+quaternion format is mandatory.
6.7. Hand-eye calibration 57