DOE Laser-assisted Turntable Calibration and Workpiece Registration

Abstract

The ability to review robot programs before they are executed can be used to correct erroneous programming. In complex processes, such a review can only be achieved by integration of additional peripheral devices and workpieces used into the programming framework. In this work, we present a semi-automatic method for the calibration of a turntable and a workpiece registration based on the turntable calibration utilizing only a DOE laser. The turntable pose is calculated by approaching markers on the turntable on a so called acquisition plane. Based on the calibration, workpieces are registered with intersection points between the laser beams with the turntable rotary plate. We evaluated our approach in terms of accuracy and the amount of time for execution. The resulting poses of the turntable and workpieces are used to load models into the 3D simulation of the programming framework and thus can be used to review the robot program.