Dual Robot Calibration - Universal Robots CB3 Manual

2 Dual Robot Calibration

This manual is a step-by-step tutorial for integrators that describes how to perform Dual Robot Calibration of
the kinematics. The method can be used on Universal Robots—with Software version 3.0.16000 or later version.
The method is patented under the patent Calibration and Programming of Robots, Søe-Knudsen, Rune
(inventor); Petersen, Henrik Gordon (inventor); Østergård, Esben Hallundbæk (inventor), IPC: B25J9 16, Patent
number: EP2012 068337, September 18, 2012. International Publication number WO 2013 045314 A1.
CAUTION:
Stay clear of the robot when using Dual Robot Calibration.
CAUTION:
Not all calibrations are good calibrations. Please pay attention to the generated statistics before
saving the result of the calibration. If a calibration is not performed with care, the robot may
become inaccurate.
The method requires a pair of UR5 or UR10 robots with control box CB3. The bases are connected with the
Calibration Horse and the tools are connected by the Tool Connector, see Figure 2.1. This creates a closed chain
where the distance between the bases and the tools are fixed to known distances. When the robots has been
connected it can perform a number of measurements from coordinated movements to different positions. This
creates a set of data which creates a mathematical foundation for determining the robot arm lengths and link
rotations of the robots, i.e. the Denavit-Hartenberg parameters.
Figure 2.1: The Dual Robot Calibration method.
2. Dual Robot Calibration
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