Hi,
I would like to calibrate my kuka robot under KRC1 so the Cartesian origin match to the corner of my bench (see attachment)
The bench can be perpendicular or not.
Is there a method (2 or 3 points)
Thank you
Hi,
I would like to calibrate my kuka robot under KRC1 so the Cartesian origin match to the corner of my bench (see attachment)
The bench can be perpendicular or not.
Is there a method (2 or 3 points)
Thank you
You can't calibrate it as such but you can teach a base so that the co-ordinates match your bench.
AFAIK you can only use 3 points (Origin/X+/X_Y Plane).
Setup > Measure > Base > 3-point.
Alternatively you can directly enter the co-ordinates relative to the world base.
Doing this by hand, using robot motion and the menu Base setup, will require a good TCP on the robot that can be used to physically touch the three ordinal points that Eusty mentioned: The origin, a point on the X+ axis of the new base, and another point in the X+Y+ plane. I often create a long, temporary "pointer" tool from bar stock that can be attached temporarily (but solidly!) to the robot end effector, taught as a TCP, and then used for the 3-point touch method.
On the other hand, if you have a CAD model of sufficient accuracy which includes the robot and the fixture, you can generate the base data in CAD, if you know how to do the transforms properly. The Base will need to be a set of XYZABC data the defines the position of the origin in XYZ relative to the robot's World frame, and define the new bases orientation in Euler angles (A=Rz, B=Ry, C=Rx), again relative to the robot's World frame.
For a third method, you could generate four points in space in the CAD model, and define their XYZ positions (no ABC required) in both your fixture frame and the robot's World frame. Then, under the SETUP>MEASURE>BASE menu, select the 4-point method and type in the coordinates of each point in both reference frames. This will provide the robot enough data to generate the complete Base XYZABC transform itself.
Thank you everybody i'll do this
Ok i tried the 3 points mesure function
I've got a good "accury" (<3mm).
But now my problem is that when i jog the robot in base mode (after selecting the right base) the tool don't move in the same plane as the base (A,B,C need to be corrected )
Thank you
Maybe is because i corrected the ABC values during mesurment. I'm checking right now
No it's not the case. Having the same pb
Have you selected the current tool/base? It's at the top T and B!
Current toolbase is selected manually : Monitor -> variable -> Modifiy variable then $BASE = BASE_DATA[1].
I don't see any B ou T at the top (i only have the menu)
Under the CONFIGURE menu, there should be a "Select Tool/Base" item.
Still, setting $BASE directly should also have worked.
If you set your new Base active, and jog the TCP to the same points that you touched to create the base with the Position Monitor active, you should see XYZ of 0,0,0 when you touch the Origin, Y&Z of zero when you touch the X point, and a Z value of 0 when you touch the XY point. Also, at the second and third points, X and Y should be positive.
The Base is created from the three points using right-hand rule. If your X or XY points were chosen in the wrong direction relative to the Origin or to each other, this could create a situation where your Origin is correct but your orientation is wrong.
They weird thing is when i switch to different base which is perpendicular the robot rotate himself ABC in the right direction but it is not perfect (a difference of 10cm/meter ) dispite a very eye accurate calibration
You used right-hand rule, correct? Thumb Z, Index finger X, middle finger Y?
yes that's the case
Is it possible this could be a tcp calibration problem ?
I am unable to perform the 4 point method ( error measurement too great : 20mm )
If your tool you use for calibration has a dodgy TCP then yes. Maybe with checking.
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finally i have made some improvement the tcp is now calibrated with X,Y,Z method using a known tool . On the X axis i have an accuracy < 1mm but on the Y and Z axis i still have a curve pb.
Curve what? If your linear motions are curving, there is something wrong with your robot.