ABB calibration program¶
This example program requires that Pickit is installed and set up with your robot. For installation instructions, please refer to the ABB installation and setup article.
Before following the ABB specific instructions in this article, make sure you first understand the process of executing a robot-camera calibration as explained on Calibration.
If you want to perform calibration once or infrequently, you don’t need to use this example program. You can teach the calibration poses manually using the pendant and the Collect current pose in the calibration wizard of the Pickit web interface.
Example program: MultiPoseCalibration¶
This example program can be found as a routine in the
Go to Program Editor > Modules > Pickit_calibration > MultiPoseCalibration().
PROC MultiPoseCalibration() ! MoveToCalPoint pCalibration1; WaitTime 0.5; pickit_find_calib_plate; ! MoveToCalPoint pCalibration2; WaitTime 0.5; pickit_find_calib_plate; ! MoveToCalPoint pCalibration3; WaitTime 0.5; pickit_find_calib_plate; ! MoveToCalPoint pCalibration4; WaitTime 0.5; pickit_find_calib_plate; ! MoveToCalPoint pCalibration5; WaitTime 0.5; pickit_find_calib_plate; ! Stop; ENDPROC
Teach calibration points¶
The calibration program requires five points to be defined. For more information on how to define these points, see the article on Multi poses calibration.
MoveToCalPoint is a helper function defined by Pickit. This will throw an error if one of the calibration points is not yet defined by the user.
Execute the calibration program¶
Before running the calibration program, make sure that the Pickit web interface is in the Calibration page, which provides feedback on calibration plate visibility and progress of the calibration process (more).
By default the robot flange (tool0) and the robot base (wobj0) are used to move to these points.
Calibration with ABB YuMi¶
Please make sure that you are using the right hand of the robot to do the calibration process. All steps mentioned above are still valid.