The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 15, 2020
Filed:
Jun. 21, 2019
Cognex Corporation, Natick, MA (US);
Lifeng Liu, Sudbury, MA (US);
Cyril C. Marrion, Acton, MA (US);
Tian Gan, Seattle, WA (US);
David Michael, Natick, MA (US);
Han Xiao, Natick, MA (US);
Cognex Corporation, Natick, MA (US);
Abstract
Described are machine vision systems and methods for simultaneous kinematic and hand-eye calibration. A machine vision system includes a robot and a 3D sensor in communication with a control system. The control system is configured to move the robot to poses, and for each pose: capture a 3D image of calibration target features and robot joint angles. The control system is configured to obtain initial values for robot calibration parameters, and determine initial values for hand-eye calibration parameters based on the initial values for the robot calibration parameters, the 3D image, and joint angles. The control system is configured to determine final values for the hand-eye calibration parameters and robot calibration parameters by refining the hand-eye calibration parameters and robot calibration parameters to minimize a cost function.