System for real-time precision calibration of robots based on machine vision

A robot calibration system comprising a machine vision sensor connected to an end effector of a robot, a memory storing computer-executable instructions, and a processor configured to access the memory, execute the computer-executable instructions, and control the robot, the processor being configured to:

• when a state of the robot is identified as performing a predetermined task, acquire, from the machine vision sensor, first position data regarding a task position required for the robot to perform the predetermined task;
• based on acquiring the first position data, acquire, from a controller controlling the robot, second position data regarding a position of the robot;
• determine a position error regarding an error between the first position data and the second position data;
• at a first time point at which the position error is determined, identify a first DH parameter (Denavit-Hartenberg parameter) regarding a positional relationship between a joint and a link of the end effector;
• apply the first DH parameter to a calibration model trained to minimize the position error, thereby acquiring a second DH parameter at a second time point subsequent to the first time point;
• and control a position of the end effector by applying the second DH parameter to the controller.