Autonomous Visual Measurement for Accurate Setting of Workpieces in Robotic Cells

This paper introduces a new method of adapting the virtual world of an offline programming model to an actual robotic cell by attaching a CCD camera to the robot. This method requires no specific camera attachment location or optical camera calibration. Furthermore, there is no operational requirement for setting robotic camera location. Robot motion is autonomously generated to identify the camera view line. The view line is adjusted to pass through the designated target point, utilizing visual feedback motion control. This method calibrates reference points between the virtual world of an offline model to an actual robotic cell.