# Camera Calibration in High-Speed Robotic Assembly Operations
## 5 Conclusions
Another advantage of the proposed method is linked to the specifics of unstructured applications. Without using a vision system, such applications must resort to other solutions for solving various uncertainties, such as using a gravitational part aligning support. These solutions introduce an additional operation to the task, affecting cycle times and productivity. This in especially critical in high-speed applications. The solution proposed in this study removes the need for such additional operations, thus reducing cycle times. Also, by embedding the calibration procedure into the assembly task (without performing a separate calibration operation), the productivity of the entire application is improved. For a typical camera calibration procedure, because a printed template is required, the camera must be positioned above the template in a dedicated area. This implies additional movement of the robot arm. After the camera is positioned, the calibration generally takes around 2 s, because camera focalization must also be performed. After the calibration, the robot must again reposition itself in the application workspace to resume the assembly task. The duration of the robot movements is highly dependent on the application. By using the proposed calibration method, not only is the need for additional robot movements eliminated, but, also, the calibration together with the measuring process takes around 1 s (as resulted from the experimental validation). The calibration itself takes less than 0.3 s due to the embedded calibration procedure and lightweight program used to implement the calculations. That being said, the proposed method is especially useful in situations in assembly operations that must meet tight productivity criteria, given that the main advantage provided is linked to the reduction of cycle times, as shown above. Thus, the most adequate scenario would be the case of high-speed assembly tasks that include a large number of parts and have an unstructured environment, such as electronics assembly. Since the calibration is required before each measurement, assembling a large number of parts would benefit mostly from the proposed method since the calibration would be done during the assembly operation itself. Future research will integrate the developed mathematical model into a high-speed robot assembly system. To achieve that, the proposed model needs to be integrated into the robotic software. **Author Contributions:** Methodology, R.C.P., M.A.I. and C.L.P. ; Software, R.C.P. and M.A.I. ; Validation, R.C.P. and M.A.I. ; Writing--original draft, M.A.I; Writing--review & editing, L.F.P., C.E.C. and C.L.P. ; Supervision, C.E.C. All authors have read and agreed to the published version of the manuscript. **Funding:** This research was founded by a grant from the National Program for Research of the National Association of Technical Universities--GNAC ARUT 2023. **Institutional Review Board Statement:** Not applicable. **Informed Consent Statement:** Not applicable. **Data Availability Statement:** The original contributions presented in the study are included in the article, further inquiries can be directed to the corresponding author. **Conflicts of Interest:** The authors declare no conflicts of interest.