KUKA calibration program¶
This example program requires that Pickit is installed and set up with your robot. For installation instructions, please refer to the KUKA installation and setup article.
Before following these KUKA specific instructions in this article, make sure you first understand the process of executing a robot camera calibration as explained on Calibration.
Note
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: PickitMultiPoseCal¶
This example program can be found in R1 > Program > Pickit.
DEF PickitMultiPoseCal( )
FOLD INI;%{PE}
PTP home
PTP P1
WAIT SEC 0.5
Pickit_do_calibration()
PTP P2
WAIT SEC 0.5
Pickit_do_calibration()
PTP P3
WAIT SEC 0.5
Pickit_do_calibration()
PTP P4
WAIT SEC 0.5
Pickit_do_calibration()
PTP P5
WAIT SEC 0.5
Pickit_do_calibration()
PTP home
END
Below, each step of the program is explained.
Teach calibration points¶
The calibration program requires five points to be defined (P1 - P5). For more information on how to define these points, see the article on Multi poses calibration.