Applying a Virtual Tool Center Point Calibration and Position Teaching System of Robotic Arm to Automatically Detect Displays

The precision of robotic arms is affected by the accuracy of the locations of tools and workpieces. To ensure the precision of robotic arms, they must be calibrated with the locations of tools and workpieces. To date, calibration methods for tools typically rely on recognition of physical characteristic points. Consequently, these methods cannot be applied to situations in which no physical tool center point is present such as noncontact detection or spray coating. To solve this problem, an automatic calibration and robot position teaching system for virtual tool center points was proposed, and the system was applied for display detection. The system utilized triangulation ranging and a visual servo for calibration and robot position teaching, solving the problem of noncontact applications of virtual tool center points, and eliminating reliance on manpower for robot position teaching. If the automatic teaching method is used, operator experience is unnecessary. Therefore, training or recruitment of skilled manufacturing workers is unnecessary, improving the smart manufacturing process and benefitting industry.