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:
One robot with a calibration tag on the end effector cannot reach the field of view (FOV) of all of the cameras being utilized for the system.
Calibration tags mounted in the scene for camera calibration checking.
The highest quality tags can be custom made purchased at: calib.io. The aruco_tags.pdf can be sent to calib.io and have the markers sized at least 10cm wide. The aruco_tags.pdf attached has 20 different targets made to RapidSense specs. It will depend on the system setup for how many tags will be required.
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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: Mitsubishi RV7FR FANUC LR Mate-200iD/7L Kawasaki RS007N Yaskawa GP8
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| name | aruco_adapter_DWG.pdf |
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