RoboDK TwinTrack
RoboDK provides some utilities to calibrate reference frames and tool frames. These tools can be accessed from Utilities➔Calibrate Reference frame and Utilities➔Calibrate Tool frame respectively.
To calibrate a reference frame or a tool that has not been automatically calibrated (also known as User frame and TCP respectively) we need some robot configurations touching 3 or more points, these robot configurations can either be joint values or Cartesian coordinates (with orientation data in some cases). It is recommended to use the joint values instead of the Cartesian coordinates as it is easier to check the real robot configuration in RoboDK (by copy-pasting the robot joints to the RoboDK main screen).
Select Utilities➔Calibrate tool to calibrate the TCP using RoboDK. We can use as many points as desired, using different orientations. More points and larger orientation changes is better as we will get a better estimate of the TCP as well as a good estimate of the TCP error.
Select Utilities➔Calibrate reference to calibrate a reference frame. It is possible to set a reference frame using different methods. In the example of the figure, a reference frame is defined by three points: point 1 and 2 define the X axis direction and point 3 defines the positive Y axis.
