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1. (WO2018128355) ROBOT AND ELECTRONIC DEVICE FOR PERFORMING HAND-EYE CALIBRATION

Pub. No.:    WO/2018/128355    International Application No.:    PCT/KR2018/000050
Publication Date: Fri Jul 13 01:59:59 CEST 2018 International Filing Date: Wed Jan 03 00:59:59 CET 2018
IPC: B25J 9/16
B25J 19/02
B25J 15/00
Applicants: SAMSUNG ELECTRONICS CO., LTD.
Inventors: PARK, Soon Yong
ROH, Kyung Shik
AHN, Sung Hwan
YOON, Suk June
LEE, So Hee
JEON, Young Pil
Title: ROBOT AND ELECTRONIC DEVICE FOR PERFORMING HAND-EYE CALIBRATION
Abstract:
A robot for performing hand-eye calibration is provided. The robot includes a robot arm including a plurality of joints, a plurality of arm sections, and an end effector, a communication interface, and a control circuit. The control circuit controls the robot arm to place the external object on a worktable after the external object is grasped by the end effector, acquires coordinates of a central point of the external object in a coordinate system of the camera from an image of the external object, and calculates a calibration parameter for defining a relation between a coordinate system of the end effector and the coordinate system of the camera, based on coordinates of the end effector in a base coordinate system of the robot and coordinates of the central point of the external object in the coordinate system of the camera when the external object is placed on the worktable.