Spatial adjusting of the industrial robot program with matrix codes

Abstract

The study presents a method to modify the program of industrial robots related to the change of the position of objects in the workspace. The aim is to increase the flexibility of the station and to reduce the need for expensive tooling, such as precision, large-size positioners. The object to be processed can be placed in any position on the table. The location and the orientation are determined by a camera detecting tags in the form of a matrix code. Methods for the calibration of the system and the transformations performed in the preparation and execution of the program were presented. Repeatability of the method has been investigated experimentally.