Camera Calibration Algorithm for Industrial Robot

摘要

This research paper aims to present an algorithm for camera calibration for an industrial robot using a target pattern from a 2D image utilizing camera vision and MATLAB. The camera sensor will fetch data and send it to the application for image processing. Camera calibration using a planar checkboard grid to get camera parameters for industrial robotics was performed. The study attempts to identify the commands to which the robot articulates its movements. Performing both tasks and integrating them into a system requires the development of a control algorithm that initializes a trajectory of robot’s joint angles to place the end to the target point captured in the 2D image. The method of using camera calibration was done to identify the camera’s intrinsic parameters. They are applying the parameters to the perspective camera algorithm. The robot model is also presented, converting the CAD model to controllable block diagrams. Joint space trajectory was discussed for movement simulation.