Universal Robots CB3 User Manual

1. Plate Calibration
1 Plate Calibration
This user manual goes through the calibration method for the kinematics, implemented on the Universal Robots
controller from software version 1.4. The manual is organised as a step by step tutorial.
Figure 1.1: Robot mounted on a plate with holes to align the robot tool flange.
CAUTION:
It is important to point out that not all calibrations are good calibrations. Please pay attention
to the generated statistics before saving the result of the calibration. If a calibration is not
performed with care, the robot may become inaccurate.
1.1 Required Equipment
The method is based on the assumption that it is possible to fixate the tool in multiple positions with the tool
flange parallel to the plane. In this tutorial we use a stiff plate with holes at known positions. The holes fits the
tool flange as displayed in Figure 1.1 (see details in Appendix A).
1

Universal Robots CB3 Specifications

General

Brand	Universal Robots
Model	CB3
Category	Robotics
Language	English