Calibration with an ABB YuMi

When using Pickit with the YuMi robot, a fixed camera mount should be used. A robot-mounted camera configuration is not possible due to YuMi payload limitations. Although YuMi is a robot with two-arms, robot-camera calibration only needs to be performed for the right arm. As such, your calibration program should use a tool frame attached to this arm.

Attention

The YuMi robot has a limited workspace for moving the calibration plate around. Therefore, a smaller, L-shaped calibration plate needs to be used for the SD cameras.

It’s important that the calibration plate doesn’t move with respect to the gripper during calibration. To this end, it might help to extend the plate with a part that can be firmly grasped by the fingers of the YuMi gripper, as shown below. You are free to make holes in the calibration plate as long as they don’t touch any QR marker.