Calibrate camera and tcp

Technical Questions URScript
1

Hi,

I am having difficulties to calibrate the frame of the camera with the TCP frame. The camera is mounted on the UR gripper like the following image:

image

The camera that I am using is a basler aca1300-30gm, a normal 2D mono camera and the idea is to guide the cobot to grab objects (I already have a topic related to this). I am using python to detect the desired objects and get the x and y coordinates of the center point of them and also to move the robot’s tcp to those coordinates. But without the calibration is not possible to put the TCP in the xy coordinates of the center of the object.

Any help would be appreciated :slight_smile:

2

Hi, Diego. I have a question. How exactly did you move the robot to the x and y coordinates of the objects? Do you have a code? I also have an application like this and I’m struggling with moving the robot to these coordinates. thank you!