Method and control system for verifying and updating camera calibration for robot control

A non-transitory computer-readable medium having instructions stored thereon that, when executed by a control circuit of a computing system, causes the control circuit

• to determine a group of reference image coordinates based on a reference image received by the computing system, wherein the computing system is configured to communicate with:
• (i) a camera having a camera field of view and (ii) a robot having a robot arm that includes a plurality of arm portions that are movably attached to each other, and includes a group of verification symbols that are disposed on respective arm portions of the plurality of arm portions, the group of reference image coordinates being respective coordinates at which the group of verification symbols appear in the reference image, wherein the reference image is an image for representing the group of verification symbols, and is generated by the camera during a first time period when the robot arm is in a first pose;
• to receive a verification image, which is an additional image for representing the group of verification symbols, and is generated by the camera when the robot arm has been moved to the first pose during a second time period;
• to determine a group of verification image coordinates, the group of verification image coordinates being respective coordinates at which the group of verification symbols appear in the verification image;
• to determine a group of respective deviation parameter values that are based on respective amounts of deviation between the group of reference image coordinates and the group of verification image coordinates, wherein the group of respective deviation parameter values are associated with the group of verification symbols, and
• to determine whether at least one deviation parameter value of the group of respective deviation parameter values exceeds a defined deviation threshold.

A computing system comprising:

• a communication interface configured to communicate with:
• (i) a camera having a camera field of view and (ii) a robot having a robot arm with a plurality of arm portions that are movably attached to each other, and with a group of circular symbols that are disposed on respective arm portions of the plurality of arm portions;
• and
• a control circuit configured, when the robot arm is in the camera field of view:
• to output a movement command for controlling movement of the robot arm,
• to receive a reference image, wherein the reference image is an image for representing the group of circular symbols, and is generated by the camera,
• to determine a group of reference image coordinates, the group of reference image coordinates being respective coordinates at which the group of circular symbols appear in the reference image,
• wherein the control circuit is further configured to generate the movement command in a manner such that the group of circular symbols appear in the reference image with no eccentricity, or with respective amounts of eccentricity that are less than a defined eccentricity threshold.