{"id":84007,"date":"2023-01-13T11:00:56","date_gmt":"2023-01-13T03:00:56","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&p=84007"},"modified":"2023-03-27T11:07:49","modified_gmt":"2023-03-27T03:07:49","slug":"deviation-calibration-for-robot-duplicate","status":"publish","type":"docs","link":"https:\/\/www2.tm-robot.com\/ja\/docs\/deviation-calibration-for-robot-duplicate\/","title":{"rendered":"Deviation Calibration for Robot Duplicate"},"content":{"rendered":"

Why need this method<\/h1>\n

There exists robot differences because of axial differences between each robot coordinate system, TCP posture differences and absolute accuracy errors. So if you directly run the project imported from the golden robot, the duplicate robot will get a different result.<\/p>\n

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When you need to replace a new robot after the golden robot crashes, or have request of robot duplicate, such as AMR use, the traditional way is adjusting robots one by one.<\/p>\n

Now just imagine, you have 100 robots and want them to do the same actions on 100 working stands, and if you spend T hours for adjusting the first robot, it still needs T*99 hours for adjusting other robots.<\/p>\n

As you can see, this requires lots of time and manpower. To solve this problem, we provide this method to reduce adjusting time for duplicate.<\/p>\n

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Introduction<\/h1>\n

To solve the axial difference problem, you can use a Landmark to build the vision bases on it, then edit points on this base.<\/p>\n

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After that, choose a visual point of the golden robot as the calibration point, then re-adjust this point as a new point on the duplicate robot. Calculate the point offset and compensate to the duplicate robot\u2019s TCP. Points applied this modified TCP will get the same compensation.<\/p>\n

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Limitations of use<\/h1>\n

Point<\/h2>\n

Modified TCP can only be used for points with the same posture of the calibration point.<\/p>\n

Accuracy & Correction Range<\/h2>\n

By measurement, it\u2019s expected that the point error after calibration can be under 1 mm, but the points should follow the rule: points that are within 20 cm above the calibration point and \u00b110 cm in the X-Y directions with the calibration point at the center.<\/p>\n

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However, the error and range still depend on how you do calibration and the calibration accuracy at the calibration point. If the error is larger, the range would narrow down.<\/p>\n

An Example of an AMR Application<\/h1>\n

Here we edit a project of picking up a Front Opening Unified Pod (FOUP), and will use two robots to show how to do deviation calibration.<\/p>\n

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[The following can be omitted if no need]<\/strong><\/p>\n

To let you directly observe the calibration result, we install two screws on the TCP, and setup an offline calibration platform. There also installs another two screws on the platform.<\/p>\n

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Requirements<\/h2>\n

Two TM robots with the same model
\nA FOUP
\nA fork for picking up FOUPs
\nA landmark<\/p>\n

[The following can be omitted if no need]<\/strong><\/p>\n

A platform can be setup on the working stand
\nA landmark
\nTwo screws (on the platform)
\nTwo screws (on the TCP)<\/p>\n

Note:<\/strong><\/span><\/p>\n

    \n
  1. To reduce eye observational error, you can replace screws with calibration pins, and design locating holes for attachment.<\/li>\n
  2. Use at least two pins for calibration (three is the best), one pin can only calibrate position without robot posture.<\/li>\n
  3. If you need to setup another calibration stand, build it similarly to working scene as possible.<\/li>\n<\/ol>\n<\/blockquote>\n

    Golden Robot<\/h2>\n

    The first robot for editing the projects is the golden robot. We will edit the project with it in the working area, then move it to the calibration stand for calibration.<\/p>\n

    Set a TCP<\/h3>\n

    Before editing the project, navigate to Settings<\/strong> > TCP Settings<\/strong> to set a new TCP.<\/p>\n

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    Edit project<\/h3>\n

    Steps:<\/p>\n

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    1. Edit two landmark alignment tasks first, the first one is for finding landmark by far look, the second is for positioning landmark by close look.
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    2. During the second landmark task, suggest following some tips:\n