Method for calibrating a multi-axis robot equipped with a camera and a printing head and robot configured to implement such a method

Abstract

According to this method, a mathematical surface is determined (), a printing head is brought into a first position and then into a second position, where a first impact and a second impact are printed (), then the coordinates of a characteristic point of the first or second impact () are measured. We express () the coordinates of a first intersection point and those of a second intersection point We express () a deviation ({right arrow over (ε)}) based on the coordinates of the characteristic points and intersection point We construct () an objective function (F) whose variables are the deviations ({right arrow over (ε)}). We determine () values for six parameters (X-X) of a passage matrix (T) which minimise the objective function (F). These six parameters (X-X) are used () to define an oriented position of the frame (TCP) linked to the printing head in the frame linked to the wrist.