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Currently, RapidSense supports Aruco tags that are mounted off of the robot faceplate for camera calibration and tags mounted static in the scene to check calibration status against. If the tag cannot be permanently mounted off of the robot faceplate (such as being fixed on the end of arm tooling) and it must be removable, then it should be designed such that re-mounting the tag is accurate and repeatable. A Tool Center Point (TCP) location will need to be provided to the system for providing where the center of the tag is located relative to the robot faceplate origin.
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If more than one calibration tag is required for a system, each tag must have a unique pattern. It may be required to utilize more than one calibration tag pattern per system such as if:
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Sample Aruco Tag Plate and Mounting Adapter DesignThe below contains details of a sample fabricated Aruco tag for a system and a sample design for a mount to use to attach the tag to the robot. In this case, the tag is mounted to a plate that is mounted between the robot faceplate and the robot tooling. This mount works for the following robot models:
  
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