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Normally a modelplant and the belonging offline
simulation aren't the same like the real plant.
Differences in accuracy of the tools and relative position of the robotaxis can
occure in the robotsimulation. During the
calibration the simulation will be adapted to the real given geometrical relations
by carring up to three points and measure them. We measure 5 points to get the
best possible accuracy and with three of them we move the model into reality.
Thereby three different forms are distinguished :
- Arrangement of position mistakes
- Arrangment of the TCP, which cann deviate from the simulation model depending
on fabrication
- Arrangment of the conformity of the position from the robots in the simulation
model to the real plant.