Of course, I guess what I meant was getting the TCP by the 4-point method seems to mostly depend on the operator's eyeballs and meat computer. I suppose the easiest way to improve that would just be to setup a couple of cameras roughly perpendicularly around the teaching spike and zoom in on the spikes to really pin down the measurement points. It's just interesting to hear about how other people get a reliable TCP measurement for machining since it still is my least favorite part of the process :p
Posts by tom.svilans
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Interesting...
I will have to chat with some of my colleagues who are much better versed in computational geometry. I've just got a 3d taster probe, so maybe I'll give it a go when I get a bit of time.
Yes, I figured the radii should be very precise and known, though how that would enter into the equation, I still have no idea...
It's kind of frustrating, because other than the 4-point method or directly measuring the flange-to-TCP transform with some system, there doesn't seem to be a way to accurately get the TCP.
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Sorry to revive an old post...
... but I was wondering if there is any literature anywhere about doing this with a probe (https://www.haimer-usa.com/pro…/universal-3d-sensor.html) and a sphere of known diameter? That is, instead of touching two spikes - which can be imprecise and frustrating if one gets blunted - touching the round point of a probe to a sphere of known diameter. This would then shift the precision to the roundness of the sphere and the precision of the probe - both of which would most likely be way more precise than the ol' eyeball.
Off the top of my head, if one were to do a kind of 12- or 16-point calibration, by touching the probe to the sphere 3-4 times from each direction as in a normal 4-point calibration (4 sets of 3-4 points), you could potentially derive the 'true' point at each direction from the corresponding set of points... though there still seem to be many unknowns to sort out...
Any ideas?
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Hi,
I'm trying to source a light-weight spindle to mount on my IRB1600 robot (10kg payload). I have found an appropriate HSD spindle which weighs about 8kg (http://www.hsdusa.com/viewdoc.asp?co_id=713). I am primarily machining soft materials such as softwood, foam, and light modelling block.
Would that spindle weight be too close to the robot payload limit once you factor in the machining forces, etc.? Is 8kg too much for the robot to handle accurately? Is there any way to determine what weight range would be appropriate for machining operations?
Any tips or recommendations would be really appreciated!
Tom
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Can I ask what the default user name and password are? I've got the same problem. Pinging works, but the controller does not show up in the network folder, and my host machine doesn't show up in the network folder on the controller. Attempting to map a drive to the shared drive on the controller brings up the user log-in form, and none of the default IDs and pwds seem to work...
Any help would be greatly appreciated!