Abstract: A comprehensive model-based mathematical method for calibration of a gantry robot and a tool via a dual camera vision system may employ an automatic calibration process that includes: (i) Camera Internal and External Calibration (ULC and DLC), (ii) Camera Installation, (iii) Robot Workspace Calibration, and (iv) Tool Calibration. The method may provide an accurate, fast and affordable method for robot calibration which may significantly reduce the commissioning time, such that the time-consuming, cumbersome, conventional trial-and-error method may be reduced to a time-efficient automatic procedure with no human interference.

Abstract: A method for point-to-point path planning of a manipulator robot with up to 6 degrees-of-freedom via a dual vision system aims at generating a rest-rest path and corrects it with a high precision through closed-loop pick and place path planning. The path is corrected and aligned with the desired path as soon as different visual feedbacks such as the position and orientation of the pick nests, the placement nests, and the workpiece (part) are observed via the dual vision system. The introduced path planning method is a comprehensive online approach that benefits from: (i) An advantageous path definition based on multiple coordinate systems, (ii) An online path planner with three correction procedures that corrects the pose of the workpiece with respect to the robot, to the desired path and to the placement nest.