Multi-Arc Calibration (Not Irbp C); Introduction - ABB IRBP Product Manual

8.7 Multi-arc calibration (not IRBP C)

8.7.1 Introduction

General
Before the system can be used, the system has to be calibrated. The calibration
principle is based on tools with defined TCPs that are moved together a number
of times.
This method will move and rotate the base frame in relation to the world frame.
Normally the base frame is centered and aligned with the world frame.
Positioner IRBP C is not calibrated for base frame (it has no stations).
Overview
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A
B
C
Product manual - IRBP /D2009
3HAC037731-001 Revision: T
Note
Note that the base frame is fixed to the base of the robot.
Base coordinate system for robot 2
Base and world coordinate system for robot 1
Base Frame for positioner
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8 Calibration information
8.7.1 Introduction
275