The calibration interface is used to compute the new kinematic model for the robot based on the recorded poses and measurements.
Components. Displays the current components for the current Machine. Right-click a component to access properties.
Pose Name and Errors. Displays each pose and corresponding positional and rotational errors. Uncheck a pose to remove from solution.
Measured Point in Tool Coordinates. Used to define the measured target in the TCP frame when using single point measurements. Not needed when using a 6 degree of freedom target.
Rough-fit tool tips to measurements. Performs a best-fit of the tool tip locations to the measurements to ensure a good initial condition for the optimization.
Settings. Displays the tool orientation weighting factor.
Generate Report. Generates a final report to Excel with solution results and kinematic properties.
Degrees of Freedom. Degrees of freedom for the base, link ages and tool of Robot.
Run Calibration. Executes the optimization.
Solution. Displays current position and orientation errors and RMS values.
With measurements and poses captured, open the calibration interface by right-clicking the calibration set of interest and choosing Calibration Interface.
Ensure a good initial starting condition by pressing Rough-fit tool tips to measurements. The overall errors will reduce greatly as the measurements and tool tip positions are best-fit to one another.
The initial Degrees of Freedom (DOF) are to allow the base and tool to move freely while maintaining the nominal kinematics.The tool DOF should only be set to 6 DOF when 6 DOF measurements are present. Press Run Calibration to start the optimization.
Now, if desired, allow the Robot kinematics to vary by choosing Partial or Full. Press Run Calibration to start the optimization.
At any time, make sure to validate any potential outliers and remove by un-checking the pose and re-running the optimization by pressing Run Calibration.
Once satisfied with optimization, generate a report for external sources and / or apply the new calibration to SA by pressing Apply.
This calibration will now be used when moving the robot with SA Kinematics