Robot Calibration (Laser Tracker)
It is required to connect the laser tracker and the robot to the computer to automate the procedure of taking measurements. It is also recommended to measure a reference frame through three points in case we move the laser tracker (this step is mandatory if we want to recover the home position for axis 1, seeAnnex IIfor more information).
It is required to attach at least one SMR target (three or more is recommended), as shown in the following images. It is also convenient to use 3 nests as a reference frame if the laser tracker must be moved.
The following subsections must be sequentially accomplished to be ready to start taking measurements.
The IP of the laser tracker is needed to properly set the communication with RoboDK. Follow these steps to verify the communication with the laser tracker:
a.Select the menu « Connect➔Connect laser tracker ». A new window should open.
b.Set the IP of the laser tracker.
c.Click the “Connect” button.
If the connection is successful you should see a green message showing “Ready”. The window can be closed and the connection will remain active.
The IP of the robot (or the COM port number for RS232 connections) is needed to properly set the communication with RoboDK. Follow these steps to verify the communication with the robot:
1.SelectConnect➔Connect robot. A new window will appear.
2.Set the IP and port of the robot (or the COM port if the connection is through RS232).
3.Click theConnectbutton.
4.Refer to the appendix if any problems arise.
If the connection is successful you should see a green message displayingReady. The position of the virtual robot should exactly match the position of the real robot if we selectGet current joints. Alternatively, selectMove to current jointsto move the robot to the current position set in the simulator. The window can be closed and the connection will remain active.
It is recommended to measure a calibration reference frame, attached to the robot base, this will be helpful if we want to move the tracker during calibration or compare two robot calibrations. The calibration reference frame must be defined by 3 tangible points.
We can skip this step if we are not going to move the tracker with respect to the robot or we do not need to recover the home position for axis 1. In this case, the reference of the laser tracker will be used.
We should follow these steps every time the laser tracker is moved:
1.SelectConnect➔Connect laser tracker.
2.Set the IP of the laser tracker and select connect (if laser tracker is not connected).
3.Set the calibration reference and the tracker reference as shown in the image. The calibration reference is also known as “Measurements reference”.
4.Select Set Base targets.
RoboDK will guide the user with the menus shown in the next image. The position of the laser tracker will be updated automatically with respect to the calibration reference when the procedure is completed.
