2. Dual Robot Calibration
2.1 Required Equipment
The method requires one pair of UR5 or UR10 robots with control box CB3. The bases are connected with a
device (Figure 2.2) and the tools are connected by a device (Figure 2.3). This creates a closed chain where the
distance between the bases and the tools are fixed to known distances. Please note that the UR5 and UR10 are
mounted differently on the calibration horse and that their cables are pointing toward each other, see Figure 2.4.
Figure 2.2: The UR Dual Robot Calibration Horse
Figure 2.3: The UR Dual Robot Calibration Tool Con-
nector
Figure 2.4: A sketch of the UR dual robot calibration horse and where the UR5 or UR10 robot can be mounted
Required equipment:
• A pair of UR5 or UR10 robots, to be calibrated
•
The UR Dual Robot Calibration Horse, purchasable from Universal Robots with item number: 82353
(Figure B.1 including alignment pins, Appendix B).
•
The UR Dual Robot Calibration Tool Connector, purchasable from Universal Robots with item number:
82352 (Figure B.2 including alignment pins, Appendix B).
• A robot stand with a height of at least 0.5 m
• Four M8-1.25x70 to mount the base tool to the stand (depending on the robot stand)
• Eight M8-1.25x25 screws with washers to mount the robots to the base tool
• Eight M6-1.0x25 screws with washers to mount the TCP tool
Exception:
•
The alignment pin for the tool connector (item number: 82352), should not be used when calibrating
UR5’s produced prior to end of 2014. Because, the calibration requires an improved version of the tool
flange in UR5.
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