公开(公告)号：US11524406B2

公开(公告)日：2022-12-13

申请号：US16516694

申请日：2019-07-19

Applicant: Industrial Technology Research Institute

Inventor： Jay Huang ,  Yu-Chun Cheng ,  Hian-Kun Tenn ,  Tsai-Ling Kao

IPC: B25J9/16 ,  G06T7/73 ,  G06T7/50

Abstract: A calibration method for a robotic arm system is provided. The method includes: capturing an image of a calibration object fixed to a front end of the robotic arm by a visual device, wherein a pedestal of the robotic arm has a pedestal coordinate system, and the front end of the robotic arm has a first relative relationship with the pedestal, the front end of the robotic arm has a second relative relationship with the calibration object; receiving the image and obtaining three-dimensional feature data of the calibration object according to the image by a computing device; and computing a third relative relationship between the visual device and the pedestal according to the three-dimensional feature data, the first relative relationship, and the second relative relationship to calibrate a position error between a physical location of the calibration object and a predictive positioning-location generated by the visual device.