01-26-2023, 05:45 PM
Let me comment regarding TCP calibration and the small errors you obtained:
If you took the 10 points by only moving around an existing TCP and not adjusting the XYZ position to match the pointer, it is normal that you see such small errors (under 0.001 mm). This happens because you are numerically using a perfect TCP and you did not correct any points. Therefore, you numerically obtain the same TCP you previously had.
To properly calibrate the TCP, even if you already have a good estimate, you should adjust the XYZ position as much as possible. You should then see more realistic robot accuracy/repeatability errors. These errors should be in the order of 0.010-1.000 mm (depending on the robot and the setup).
If you took the 10 points by only moving around an existing TCP and not adjusting the XYZ position to match the pointer, it is normal that you see such small errors (under 0.001 mm). This happens because you are numerically using a perfect TCP and you did not correct any points. Therefore, you numerically obtain the same TCP you previously had.
To properly calibrate the TCP, even if you already have a good estimate, you should adjust the XYZ position as much as possible. You should then see more realistic robot accuracy/repeatability errors. These errors should be in the order of 0.010-1.000 mm (depending on the robot and the setup).