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Pictures are necessary on revolution counters
update
Robots in a plant are neither clean nor completely unscratched. This makes the updating
of the revolution counters a little bit of a hassle, therefore having pictures of the
markings of every axis so that the users know where to look for would be recommended.
After the revolution counters are updated, the robot should go to its sync position,
so that the technician can see if something is wrong with the robot. There should also
be some sort of a popup that tells the technician to actually go too the robot and check
its sync position. In real workplaces there are often fences around the robot and technicians
frequently program and calibrate the robot from outside the fence, which in the
end not gives a good accuracy.
Miscellaneous problems and thoughts about calibration
Suppose that a robot program is created offline and that an installation technician is
on a plant to install the robot cell. Also suppose that when the technician test runs
the program he finds out that the first couple of points are misplaced about two mm to
the left. This would basically mean that if the first couple of points are misplaced to
the left then we could assume that the rest of the points in the program are also going
to be misplaced two mm to the left. In this case there should be some sort of best fit
application that automatically could reposition all the next coming points so that the
technician doesn’t have to modify all the positions manually.
Suppose that axis six was badly calibrated and suppose further that a user defines a
work object while turning axis six. The work object would get an offset unknown to the
user. Suppose instead that the user didn’t turn axis six when defining the work object,
now the work object would still get an offset but the offset would be the same for every
point. It is better to have the same offset on every point than to have different offsets on
every point. It is recommended to use as few axes as possible when defining work objects.
There is a need for warnings/notifications when renewing tool center points or work
objects, when users recalibrate an old tool there should be some sort of pop up that
mentions which modules and/or routines that will be affected by the change. If a userframe
is modified then it should mention which objectframes that will be affected and
so on. This also helps out with the learning process for the users; by warning users they
understand the relations between the different coordinate systems.
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Tech Materials (Free)
Calibration Techniques Set Up A Robot Cell With Work Objects
Calibration problems Things That Needs To Be Done Within Calibration
Direct Manipulation versus Interface Agents Extra Eyes or Extra Ears
Intelligent Interface Agents What is an Intelligent Interface Agent?
Interface Agents What can agents do for the user?
Robot System The Robot System
EPSON Micro PowerDrive EPSON PowerDrive Servo System ensures Maximum Robot Performance
HRP 2W Humanoid Can now serve tea and wash the cup
Robot Behaviors Exploring the T-Maze: Evolving Learning-Like Robot Behaviors using CTRNNs
Humanoid Robotics A Biochemical Subsystem for a Humanoid Robot
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