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KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 1

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KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 2

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KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 3

Tool measuring

What happens during the tool measuring ?

The tool get a Cartesian coordinate system by the user. The origin is defined by the user.

KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 4

Tool measuring

Why do we need tool measuring ?

3 1

KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 5

Procedure of tool measuring

1.Step: Determination of the TCP in relation to the flange coordinate system

TCP without tool measuring

2. Step: Fixing the Rotation of the tool coordinate system in relation to the flange coordinate system
YFlange

ZFlange

XFlange YTool

ZTool XTool

TCP with tool measuring

KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 6

Methods of tool measuring

1. TCP measuring

or XYZ-Referenz

XYZ-4 Point

2. Orientation measuring

or ABC-World 5D

or ABC-2 Point ABC-World 6D

KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 7

XYZ reference method

By means XYZ reference method the data of the TOOL CENTER POINT is calculated by comparison with a already known tool.

measured tool

unknown tool

Reference point

Reference point

The new TOOL CENTER POINT will be calculated by the diffrent flange and axis positions.

KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 8

Exempale of XYZ Refernce method

Flange as Reference tool

KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 9

XYZ 4 point method

By means of XYZ 4 point method the TOOL CENTER POINT is jogged to a refernce position out of 4 diffrent direction.

The TOOL CENTER POINT will be calculated by the diffrent position of the flange and the robot axes.

KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 10

4 point method

Unknown tool

P1

Jog to reference point out of 4 diffrent directions. (P1 to P4) Advice : Choose the last orientation (P4) , so that +Xt has the same direction as -ZW

P4

XT P3
Reference point

P2 ZW

Important: The different Orientations of the tool must differ a minimum amount.

Reduce the HOV (hand override) near to the reference point in order to avoid a collison.
KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 11

ABC 2 Point method 1. Step (Picture 1)

TCP

In the first step the TCP is jogged to the reference point . The TCP has to be measured before.

Reference point

KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 12

ABC 2 Point method 1. Step (Picture 2)

The second point must be teached in the minus of the working direction.

Reference point

TCP

XTool
KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 13

ABC World method

2. Step

The third point has to be on the positiv side of the Y axis.

ZTool

Reference point

YTool TCP

XTool
KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 14

ABC world 5D method

Terms: XTool parallel to ZWorld ZWorld ZTool XTool XWorld YTool

Using the method the working tool direction has to be parallel to the Z-Axis of WORLD coordinate system. The orientation of the other axes will be determinded by the controller.

YWorld

KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 15

ABC world 6D method

ZWorld ZTool

By using this method the tool has to be positioned ecactly in a way that all axes are according to the WORLD coordinate system

YTool XTool

Terms: XTool parallel to Zworld YTool parallel to YWorld ZTool parallel to XWorld
KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 16

XWorld

YWorld

Sense of the tool measuring

Jogging

Reorientation around the Tool Center Point (TCP)

TCP
Tool Center Point

A ZT

B +ZWORLD YT

XT

+XWORLD

+YWORLD

KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 17

Sense of tool measuring

Jogging

Straight jogging in Tool working direction

+ZWORLD

+XTOOL

Tool working direction

+XWORLD +YWORLD

KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 18

Tool payload

To move the robot with maximum speed, its necassery to set the correctly payload data

Moved load

100 kg

10kg

Maximum velocity / velocity

Dont forgett the extended payload!

KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 19

payload data

M X, Y, Z

Weights of the payload. Distance between the tool point of gravity and the orgin of the robot flange system

YFlange ZFlange A, B, C

XFlange

Rotation of the main inertia axes of the tool against the robot flange coordinate system.

JX, JY, JZ Mass inertia torque of the tool main inertia axes
KUKA Roboter GmbH, Blcherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 13.09.00 I College I ML I 20