10-31-2021, 05:29 PM
We have been involved in projects where we would compensate accuracy for static points (move-measure-correct). The robot moves to a nominal position, the laser tracker or measurement system measures, we calculate a delta error (in 3D -position- or 6D -position and orientation) and we move the robot to compensate the errors. This can be done iteratively, and after 2 or 3 iterations you should be within 0.1 mm position accuracy. This is possible with the RoboDK API in a robot agnostic manner and we have a few examples we can provide.
On the other hand, it is a bit more challenging if you want to compensate the robot movement/path in real time. This would highly depend on the robot controller. Not all robots support this feature. For exmple, on a Fanuc robot controller you would need an option called DPM (Dynamic Path Modification). This allows you to update a register an offset to compensate the nominal error.
It may be better if you can provide more details about your application. We can definitely help you in the first scenario.
On the other hand, it is a bit more challenging if you want to compensate the robot movement/path in real time. This would highly depend on the robot controller. Not all robots support this feature. For exmple, on a Fanuc robot controller you would need an option called DPM (Dynamic Path Modification). This allows you to update a register an offset to compensate the nominal error.
It may be better if you can provide more details about your application. We can definitely help you in the first scenario.