It's not clear (to me) what you are asking / seeking. When you mention "calibration", do you mean use of those complicated expensive tracker devices? I've never used them. I've never known anyone who could afford them.
I've done many high-precision / high-tolerance robot apps with OLP. Almost any OLP software will support this method. The workflow goes like this:
- Plan your programming with extensive employment of User Frames or coordinate systems in order to calculate path locations relative to the Frames. These Frames need to be mathematically attached to fixtures, workpieces, whatever makes sense.
- The goal is to teach (or calculate) your path points relative to a Frame. Your path locations will be calculated (in programming) relative coordinate transformations.
- Then go out to the work cell and teach those Frame locations to "calibrate" the physical work cell to the CAD or OLP work cell. For most applications, "close" is close enough.
- Frames can be aligned with corners of tables & fixtures, or on any three "touchable & repeatable" arbitrary points on parts, components, anything. Frames needn't be orthogonally aligned with anything in the physical work cell, even arbitrarily skewed Frames based upon physical points work just as well.
- Design your CAD or OLP work cell "close to" the physical cell.
- Make approximate measurements to the User Frame(s) from the robot's origin planes. I used a tape measure for this, hoping for ±100 mm location accuracy.
- Construct the CAD or OLP cell using this location data
- Build your OLP simulation model and make all path points relative to the appropriate User Frame(s)
- Prepare your physical work cell / program.
- include one or more Frame location programming calculations using the three common Frame location variables (typically: Origin, X-Axis, Y-Axis direction)
- teach those Frame calculation locations as location variables. I used a fabricated pointer tool with appropriate pointer tool transform invoked for the purpose
- program path points will all be relative to the User Frame(s), so this relative operator must be part of the motion statement
- this requires (back to Step 3) that your Frames and Frame locations all be "touchable & repeatable" with the pointer tool
- test, adjust, and run your program using those User Frames
This method can be easily adaptable to dynamic work cell changes. All that is required is to re-teach three Frame locations as needed. With smart design, a pointer tool can be easily integrated into existing tools. I have even designed and constructed specialized "Frame teaching appliances" that allowed me to quickly, easily, and accurately re-teach a Frame. I no longer have the eyes for such high tolerance work, but in my day I was able to hold path accuracy to ±0.010 mm on my OLP CAD→Path applications.