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Is it possible to convert the robodk robot calibration file into an AB
#1
Is it possible to convert the robodk robot calibration file into an ABB absolute accuracy parameters
ABB robots have an option package Absolute Accuracy [603-1, 603-2].

it's a Example of compensation parameters:

MOC:CFG_1.0::
# ROBOT_CALIB - ?
ROBOT_CALIB:
-name "r1_calib"
-use_tool_interface "r1_tool" -absacc
# ARM_CALIB - ?
ARM_CALIB:
-name "rob1_1"
-error_offset_x 0.0000000 -error_offset_y 0.0000000 -error_offset_z
0.0000000 \
-error_roll 0.0000000 -error_pitch 0.0000000 -error_jaw 0.0000000
-arm_compliance_y 0.0000000
-name "rob1_2" \
-error_offset_x 0.0002967 -error_offset_y 0.0000000 -error_offset_z
0.0000000 \
-error_roll 0.0001903 -error_pitch -0.0003469 -error_jaw 0.0000000
-name "rob1_3" \
-error_offset_x 0.0000000 -error_offset_y 0.0000000 -error_offset_z
0.0005485 \
-error_roll 0.0000537 -error_pitch 0.0006959 -error_jaw 0.0003361
-arm_compliance_x 0.0000000 -arm_compliance_z 0.0000000
-name "rob1_4" \
-error_offset_x 0.0000000 -error_offset_y -0.0003586 -error_offset_z
0.0004580 \
-error_roll 0.0000965 -error_pitch 0.0000000 -error_jaw -0.0002578
-name "rob1_5" \
-error_offset_x -0.0005467 -error_offset_y 0.0000000 -error_offset_z
0.0000032 \
-error_roll 0.0000000 -error_pitch 0.0009360 -error_jaw -0.0002367
-name "rob1_6" \
-error_offset_x 0.0000000 -error_offset_y -0.0000449 -error_offset_z
-0.0000365 \
-error_roll 0.0000000 -error_pitch 0.0000000 -error_jaw -0.0002168
# JOINT_CALIB - ?
JOINT_CALIB:
-name "rob1_1" -compl 0.00000000
-name "rob1_2" -compl 0.00000004
-name "rob1_3" -compl 0.00000107
-name "rob1_4" -compl 0.00000257
-name "rob1_5" -compl 0.00000490
-name "rob1_6" -compl 0.00000941
# PARALLEL_ARM_CALIB - ?
PARALLEL_ARM_CALIB:
-name "rob1_2" -error_length 0.0004324
-name "rob1_3" -error_length -0.0000744
# TOOL_INTERFACE - ?
TOOL_INTERFACE:
-name "r1_tool" -compl 0.0 -mass 0.0 -mass_centre_x 0.0 \
-offset_x -0.0000465 -offset_y 0.0011064 -offset_z -0.0005255 \
-orient_u0 1.0 -orient_u1 0.0 -orient_u2 0.0 -orient_u3 0.0
# MOTOR_CALIB - ?
MOTOR_CALIB:
-name "rob1_1" -valid_com_offset -cal_offset 1.301100
-valid_cal_offset
-name "rob1_2" -valid_com_offset -cal_offset 3.422110
-valid_cal_offset
-name "rob1_3" -valid_com_offset -cal_offset 5.057730
-valid_cal_offset
-name "rob1_4" -valid_com_offset -cal_offset 3.584140
-valid_cal_offset
-name "rob1_5" -valid_com_offset -cal_offset 3.556740
-valid_cal_offset
-name "rob1_6" -valid_com_offset -cal_offset 4.180770
-valid_cal_offset.
I want to use robodk to calibrate the absolute accuracy of the robot,Write parameters to ABB robot controller.
This is possible right?
Does robodk have a ready-made conversion script?
#2
As far as I know, no it's not possible.

RoboDK calibration will generate filtered programs accounting for the precision error of the robot.
We can provide the calibrated DH table.

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#3
thank you for your reply.
  




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