Calibration of Robotic Arm for Workstation Installation in Changing Environment - Comparison of Manual, Mechanic, and Automatic Calibration

摘要

The aim of this paper is to obtain a complete (manual, mechanic, and automatic) calibration method for robots as digital laboratory technicians in order to boost speed, accuracy, and smooth installation process and setting up of digital pathology workstations in new laboratories or exhibitions. The manual calibration consists of jogging, with burned-in values, the mechanical calibration includes touching a reference point with a head of a calibration tool, meanwhile, the automatic calibration covers the detection of reference aruco markers by computer vision, and image processing techniques. Methods are implemented, tested, and their costs are compared so as to decide which calibration mode is used for which robot tasks and environment.