[fyl1991]

Is it possible to convert the robodk robot calibration file into an ABB absolute accuracy parameters
ABB robots have an option package Absolute Accuracy [603-1, 603-2].

it's a Example of compensation parameters:

MOC:CFG_1.0::
# ROBOT_CALIB - ?
ROBOT_CALIB:
- name"r1_calib"
-use_tool_interface "r1_tool" -absacc
# ARM_CALIB - ?
ARM_CALIB:
- name"rob1_1"
-error_offset_x 0.0000000 -error_offset_y 0.0000000 -error_offset_z
0.0000000 \
-error_roll 0.0000000 -error_pitch 0.0000000 -error_jaw 0.0000000
-arm_compliance_y 0.0000000
- name"rob1_2" \
-error_offset_x 0.0002967 -error_offset_y 0.0000000 -error_offset_z
0.0000000 \
-error_roll 0.0001903 -error_pitch -0.0003469 -error_jaw 0.0000000
- name"rob1_3" \
-error_offset_x 0.0000000 -error_offset_y 0.0000000 -error_offset_z
0.0005485 \
-error_roll 0.0000537 -error_pitch 0.0006959 -error_jaw 0.0003361
-arm_compliance_x 0.0000000 -arm_compliance_z 0.0000000
- name"rob1_4" \
-error_offset_x 0.0000000 -error_offset_y -0.0003586 -error_offset_z
0.0004580 \
-error_roll 0.0000965 -error_pitch 0.0000000 -error_jaw -0.0002578
- name"rob1_5" \
-error_offset_x -0.0005467 -error_offset_y 0.0000000 -error_offset_z
0.0000032 \
-error_roll 0.0000000 -error_pitch 0.0009360 -error_jaw -0.0002367
- name"rob1_6" \
-error_offset_x 0.0000000 -error_offset_y -0.0000449 -error_offset_z
-0.0000365 \
-error_roll 0.0000000 -error_pitch 0.0000000 -error_jaw -0.0002168
# JOINT_CALIB - ?
JOINT_CALIB:
- name"rob1_1" -compl 0.00000000
- name"rob1_2" -compl 0.00000004
- name"rob1_3" -compl 0.00000107
- name"rob1_4" -compl 0.00000257
- name"rob1_5" -compl 0.00000490
- name"rob1_6" -compl 0.00000941
# PARALLEL_ARM_CALIB - ?
PARALLEL_ARM_CALIB:
- name"rob1_2" -error_length 0.0004324
- name"rob1_3" -error_length -0.0000744
# TOOL_INTERFACE - ?
TOOL_INTERFACE:
- name"r1_tool" -compl 0.0 -mass 0.0 -mass_centre_x 0.0 \
-offset_x -0.0000465 -offset_y 0.0011064 -offset_z -0.0005255 \
-orient_u0 1.0 -orient_u1 0.0 -orient_u2 0.0 -orient_u3 0.0
# MOTOR_CALIB - ?
MOTOR_CALIB:
- name"rob1_1" -valid_com_offset -cal_offset 1.301100
-valid_cal_offset
- name"rob1_2" -valid_com_offset -cal_offset 3.422110
-valid_cal_offset
- name"rob1_3" -valid_com_offset -cal_offset 5.057730
-valid_cal_offset
- name"rob1_4" -valid_com_offset -cal_offset 3.584140
-valid_cal_offset
- name"rob1_5" -valid_com_offset -cal_offset 3.556740
-valid_cal_offset
- name"rob1_6" -valid_com_offset -cal_offset 4.180770
-valid_cal_offset.
I want to use robodk to calibrate the absolute accuracy of the robot,Write parameters to ABB robot controller.
This is possible right?
Does robodk have a ready-made conversion script?

[Jeremy]

As far as I know, no it's not possible.

RoboDK calibration will generate filtered programs accounting for the precision error of the robot.
We can provide the calibrated DH table.

Jeremy

[fyl1991]

thank you for your reply.