Universal Robots CB3 User Manual

1. Plate Calibration
1.6 Reset Calibration
The kinematic calibration can be removed by deleting the /root/.urcontrol/calibration.conf file, placed together
with the other configurations. It can also be removed by manually replace all the decimal and hex numbers, in
the configuration files, to zeros like in Listing 1.2.
1 [mounting]
2 delta_theta = [ 0, 0, 0, 0, 0, 0]
3 delta_a = [ 0, 0, 0, 0, 0, 0]
4 delta_d = [ 0, 0, 0, 0, 0, 0]
5 delta_alpha = [ 0, 0, 0, 0, 0, 0]
6 joint_checksum = [ 0x0, 0x0, 0x0, 0x0, 0x0, 0x0]
7 calibration_status = 0 # 0 == notInitialized / 1 == notLinearised / 2 == Linearised
8 joint_raw_offset = [ 0x0, 0x0, 0x0, 0x0, 0x0, 0x0]
9 joint_selftest_data_crc = [ 0x0, 0x0, 0x0, 0x0, 0x0, 0x0]
Listing 1.2: calibration.conf file filled with zeros
8

Universal Robots CB3 Specifications

General

Brand	Universal Robots
Model	CB3
Category	Robotics
Language	English

Summary

Plate Calibration Guide

Required Equipment for Plate Calibration

Lists required equipment for performing the plate calibration procedure.

Accessing Kinematics Calibration Functionality

Steps to access the kinematics calibration function on the controller.

Measuring Positions on Calibration Plate

Process of adding and teaching positions on the calibration plate.

Performing Plate Calibration

Initiating and performing the kinematic calibration process.

Evaluating Calibration Results

Analyzing calibration results and statistics for accuracy.

Calibration Statistics Details

Details of measurement and evaluation data statistics.

Debugging Plate Calibration

Troubleshooting calibration issues and identifying error sources.

Applying Plate Calibration

Steps to use and apply the calibrated parameters.

Resetting Plate Calibration

Procedure to remove or reset kinematic calibration settings.

Dual Robot Calibration Guide

Required Equipment for Dual Robot Calibration

Lists necessary equipment for dual robot calibration.

Mounting Robots for Dual Calibration

Steps for mounting robots on the calibration horse and setting angles.

Accessing Dual Robot Calibration Functionality

Steps to access the dual robot calibration function.

Network Connection for Dual Robots

Establishing network connection between robot controllers.

Master/Slave Connection Configuration

Configuring master/slave connection between robots.

Manual Network Connection Mode

Configuring manual network connection using IP address.

Preparation Before Dual Calibration

Options and considerations before initiating dual robot calibration.

Connecting the Dual Robot Calibration Connector

Physically connecting robots using the calibration tool connector.

Measuring Positions and Calibration Statistics

Collecting measurements and analyzing dual robot calibration statistics.

Applying Dual Robot Calibration

Steps to apply and save the dual robot calibration results.

Validation of Dual Robot Calibration

Performing validation procedures after dual robot calibration.

Resetting Dual Robot Calibration

Procedure to reset or adjust dual robot calibration settings.

Calibration Plate Drawing and Dimensions

Dual Robot Calibration Tools Overview

Robot Kinematic Parameters

UR5 Robot Denavit-Hartenberg Parameters

Denavit-Hartenberg parameters for UR5 robot series.

UR10 Robot Denavit-Hartenberg Parameters

Denavit-Hartenberg parameters for UR10 robot series.