For projects requiring high precision, what are the pros and cons of EIH and ETH installations?

Q&A
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1

If we need an accuracy within ±1mm, what are the pros and cons between EIH and ETH mounting?

2

EIH:

Advantages:

  1. 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.
  2. 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.

Disadvantages:

  1. EIH installation and calibration are relatively complex. Mounting the camera at the robot’s end effector reduces a portion of the robot’s workspace.
  2. Due to the robot arm’s inherent motion and uncertainty, errors can propagate during the robot’s movement, affecting the final positioning accuracy.

ETH :

Advantages:

  1. ETH installation places the camera in a fixed position, simplifying installation and calibration.
  2. 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.

Disadvantages:

  1. Due to the fixed position, the camera’s capture distance is also fixed, limiting the use of cameras with a narrow field of view.