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Universal Robots CB3 Kinematic Calibration Manual
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A.
Dual
Robot
T
ools
A
D
ual
Robot
T
ools
U
R
5
U
R
1
0
U
R
5
U
R
1
0
C
a
b
l
e
C
a
b
l
e
U
R
3
U
R
3
Figur
e
A.1:
A
sketch
of
the
Dual
Robot
Calibr
ation
H
orse
Figur
e
A.2:
A
sketch
of
the
Dual
Robot
Calibr
ation
T
ool
Connector
Figur
e
A.3:
G
o
tool
used
in
the
validating
procedure
(1.5
mm
thickness)
Figur
e
A.4:
No
Go
tool
used
in
the
validating
procedur
e
(3.5
mm
thickness)
23
24
26
Table of Contents
Default Chapter
2
Table of Contents
2
1 Plate Calibration
3
2 Dual Robot Calibration
4
Required Equipment
5
Mounting the Robots to the Calibration Horse
6
Accessing the Functionality
6
Safety Settings of the Robots
7
Network Connection between the Robots
8
Master Slave Connection
9
Manual Mode
9
Before Starting
10
Mounting the UR Dual Robot Calibration Connector
11
Measuring Positions and Calibration Statistics
13
Applying the Calibration
14
Validation
14
Reset Calibration
16
3 Program Correction by Key-Waypoints
17
Introduction
17
Accessing the Functionality
18
Redefine Key-Waypoints
19
Corresponding Tool Position
20
Waypoints from Multiple Programs
21
Handling Key-Waypoints
21
Correcting a Program
22
Appendices
25
A Dual Robot Tools
25
B Robot DH Parameter
26
Ur3
26
Ur5
26
Ur10
26
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Universal Robots CB3 Specifications
General
Brand
Universal Robots
Model
CB3
Category
Robotics
Language
English
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