If we need an accuracy within ±1mm, what are the pros and cons between EIH and ETH mounting?
- The camera is directly mounted at the robot’s end effector, allowing the camera to closely follow the robot’s end effector. This close coupling contributes to achieving high-precision target localization.
- The robot can carry the camera to positions close to the target for capturing, enabling the use of cameras with a smaller field of view but higher precision.
- EIH installation and calibration are relatively complex. Mounting the camera at the robot’s end effector reduces a portion of the robot’s workspace.
- Due to the robot arm’s inherent motion and uncertainty, errors can propagate during the robot’s movement, affecting the final positioning accuracy.
- ETH installation places the camera in a fixed position, simplifying installation and calibration.
- As the camera’s position remains relatively stable, the robot arm’s motion won’t directly affect the camera’s position, thereby better isolating errors.
- Due to the fixed position, the camera’s capture distance is also fixed, limiting the use of cameras with a narrow field of view.