Method for mapping the workspace of a robotic workstation

Abstract

The subject of the application is a method of mapping the workspace of a robotic station, in which a robotic manipulator (1), connected to a controller (6) and terminated with a flange (2), to which a camera (3) also connected to the controller (6) is attached, moves over a calibration plate (4) with a checkerboard pattern applied thereto, attached to a movable work table (5), and the camera (3) records the position of the calibration plate (4) and transmits the data to the controller (6). This method is characterized in that the manipulator (1) moves to a selected working point, which is saved in the controller (6). Then the manipulator (1) is positioned in a position where the distance between the camera (3) and the plane of the calibration plate (4) is 200-300 mm, and the camera (3) is tilted at an angle of 10°-20° relative to the normal to this plane, so that the calibration plate (4) is in the center of the image.In this position, the controller (6) records the current position of the manipulator (1) as a reference point and records the image from the camera (3) as a reference result. After moving the movable worktable (5), the manipulator (1) returns to the reference point, and the camera (3) records the position of the calibration plate (4) again, resulting in the controller (6) recording the current result. The controller (6) compares the reference and current results, estimating the necessary movement of the manipulator (1) until the difference between them is less than the established tolerance.