In this tutorial, we use HDevelop to perform a quick and easy approximate hand-eye calibration. This hand-eye calibration is necessary to pick and place objects, which are observed by a stationary 3D sensor, with a robot.
There are many ways to perform a hand-eye calibration with HALCON. In this video, the robot holds a ping pong with its gripper while the 3D sensor acquires image data.
With the corresponding poses, we can calibrate the transformation from the camera coordinate system into the robot coordinate system. We show several approaches to check the calibration and then pick and place an object using the calibration result.
Content
0:00 Introduction
1:09 The HDevelop example program calibrate_hand_eye_stationary_cam_approx_sphere.hdev
2:30 Perform the hand-eye calibration
5:50 Check the result
6:35 Pick and place test objects
In this video, a preview version of MVTec HALCON 21.11 is used. You can download the used HDevelop program here:
About Us:
Advance Ultravision is the main distributor of Industrial Machine Vision products and components in Malaysia. We specialized in Machine Vision software such as Machine Learning, Deep Learning, Machine Vision Software Library, and 3D Machine Vision.
More information at advanceultravision.com
Curated By:
Vincent Hua is a Malaysia-based Machine Vision sales engineer, an ex-Machine Vision cum Automated Machine software engineer. Specialized in a machine vision system for Semiconductor / Electronics / Automotive sector.