07-29-2022, 09:22 PM
The problem with your project is that no measurements are within the default tolerance of 20 mm to consider a measurement valid. This could be for many reasons. In your case, it is because of invalid measurements for pose orientation (all measurements are 0 for WPR values).
It looks like you selected 6 DOF measurements (poses) when you started the calibration. If you use a laser tracker you should select 3 DOF measurements unless you use a laser tracker that supports pose measurements (and the RoboDK driver for the laser tracker also supports it).
To fix that and to take advantage of the measurements you already took, I exported all measurement tables and deleted the pose orientation information for the measurements and the tool (columns 10-12 and 16-18). You can edit these files using Excel and import the tables again. Another option would be to start over all measurements. See the project attached.
I believe the base setup and tool setup were properly completed. Can you confirm you placed the target in this location?
Did you place the laser tracker on top of the rotary table? Did you move it?
I noticed you used theSet measurement referenceoption. I strongly recommend you to not use this option when you run your first calibration as it can lead to confusion. You should simply run the calibration procedure without setting any references.
Was this robot working properly before you took the measurements? (for example, properly mastered)
The robot model is different, however, I checked the DH table and everything looks correct (all parameters match the spec sheet of your robot).
For some reason, the measurements are still off by 100-200 mm compared to the nominal expected values. We should see 5-10 mm at most for a robot like this. Our default tolerance to consider a measurement valid is quite permissive at 20 mm (it can be increased in Tools-Options, then select Accuracy tab).
One option to troubleshoot is to open the measurements table with a spreadsheet, copy the measurement values and paste them in RoboDK. I did this procedure for the first 5 points for the project attached. You should see the real measured values as you scroll through the scheduled measurements.
If we are unable to find the source of the problem, I would re-run the calibration without using theSet measurement referenceoption (I removed it for the project attached).
It looks like you selected 6 DOF measurements (poses) when you started the calibration. If you use a laser tracker you should select 3 DOF measurements unless you use a laser tracker that supports pose measurements (and the RoboDK driver for the laser tracker also supports it).
To fix that and to take advantage of the measurements you already took, I exported all measurement tables and deleted the pose orientation information for the measurements and the tool (columns 10-12 and 16-18). You can edit these files using Excel and import the tables again. Another option would be to start over all measurements. See the project attached.
I believe the base setup and tool setup were properly completed. Can you confirm you placed the target in this location?
Did you place the laser tracker on top of the rotary table? Did you move it?
I noticed you used theSet measurement referenceoption. I strongly recommend you to not use this option when you run your first calibration as it can lead to confusion. You should simply run the calibration procedure without setting any references.
Was this robot working properly before you took the measurements? (for example, properly mastered)
The robot model is different, however, I checked the DH table and everything looks correct (all parameters match the spec sheet of your robot).
For some reason, the measurements are still off by 100-200 mm compared to the nominal expected values. We should see 5-10 mm at most for a robot like this. Our default tolerance to consider a measurement valid is quite permissive at 20 mm (it can be increased in Tools-Options, then select Accuracy tab).
One option to troubleshoot is to open the measurements table with a spreadsheet, copy the measurement values and paste them in RoboDK. I did this procedure for the first 5 points for the project attached. You should see the real measured values as you scroll through the scheduled measurements.
If we are unable to find the source of the problem, I would re-run the calibration without using theSet measurement referenceoption (I removed it for the project attached).