01-31-2023, 05:22 PM
Thanks to you both for answering!
I tried calibrating the TCP on two different planes with 30-35 points and with the tip-to-tip method with 11 points with a new KR10 R1100-2 robot, zeroing was checked with KUKAs EMD:
1. Plane 1300 mm x 800 mm: [ -0.780005, -0.587233, 298.278491, 0.000000, 0.000000, 0.000000 ], Errors: mean 0.119, std 0.08, max 0.33
2. Plane 200 mm x 150 mm: [ -0.911481, -0.407068, 298.067150, 0.000000, 0.000000, 0.000000 ], Errors: mean 0.148, std 0.148, max 0.546
3. Tip-to-tip: [ -1.351774, -0.330700, 299.312497, 0.000000, 0.000000, 0.000000 ], Errors: mean 0.353, std 0.176, max 0.628
So 1 and 2 are kind of similar but 3 is "way" off. The interesting part is that the Z value should be correct with method 3. The tool length is hard to measure but should be around 299.4 mm. So is the "Calib XYZ by plane" method less accurate? Both planes are milled, I used the whole plane with huge differences in XY and I used a gauge block, so the planar deviation should be minor. The tool orientation was the same with all 3 methods.
I checked the results of all 3 calibrations by rotating the TCP around a tip in A, B and C and none was very good, I guess around +-1 mm.
Will TwinTool gererate more reproducible/accurate results? Is it possible to get a trial license for a week?
I tried calibrating the TCP on two different planes with 30-35 points and with the tip-to-tip method with 11 points with a new KR10 R1100-2 robot, zeroing was checked with KUKAs EMD:
1. Plane 1300 mm x 800 mm: [ -0.780005, -0.587233, 298.278491, 0.000000, 0.000000, 0.000000 ], Errors: mean 0.119, std 0.08, max 0.33
2. Plane 200 mm x 150 mm: [ -0.911481, -0.407068, 298.067150, 0.000000, 0.000000, 0.000000 ], Errors: mean 0.148, std 0.148, max 0.546
3. Tip-to-tip: [ -1.351774, -0.330700, 299.312497, 0.000000, 0.000000, 0.000000 ], Errors: mean 0.353, std 0.176, max 0.628
So 1 and 2 are kind of similar but 3 is "way" off. The interesting part is that the Z value should be correct with method 3. The tool length is hard to measure but should be around 299.4 mm. So is the "Calib XYZ by plane" method less accurate? Both planes are milled, I used the whole plane with huge differences in XY and I used a gauge block, so the planar deviation should be minor. The tool orientation was the same with all 3 methods.
I checked the results of all 3 calibrations by rotating the TCP around a tip in A, B and C and none was very good, I guess around +-1 mm.
Will TwinTool gererate more reproducible/accurate results? Is it possible to get a trial license for a week?