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DynaCal™(Version5.1)RobotCellCalibrationSystemGeneralOverviewLastRevision:January2009DynaCal™Robot-CellCalibrationSystemGeneralOverviewUnderinternationalcopyrightlaw,neitherthedocumentnorthesoftwaredeliveredherewithmaybecopied,photocopied,reproduced,translated,orreducedtoanyelectronicmediumormachine-readableform,inwholeorinpart,withoutthepriorexpresswrittenpermissionofDynalog,Inc.exceptasotherwisedescribedinthedocumentationitself.SpecificationsandinformationcontainedinthisGeneralOverviewarebelievedtobeaccurateandreliable.However,theyaresubjecttochangewithoutnotice.Changestospecificationsandinformationmaybeincorporatedinfutureeditionsoftheoverview.Consequently,Dynalog,Inc.assumesnoresponsibilityforerrorsoromissioninthisdocument.Copyright1999-2008Dynalog,Inc.Dynalog,Inc.6001N.AdamsRoadBloomfieldHills,MI48304CONFIDENTIALINFORMATIONIBMisaregisteredtrademarkofInternationalBusinessMachinesCorporation.MSDOSandWindowsareregisteredtrademarksofMicrosoftCorporation.DynalogandCompuGaugearetrademarkspendingregistrationbyDynalog,Inc.CONFIDENTIALINFORMATION–Dynalog,Inc.2/781.Introduction:............................................................................51.1.TheStandardDynaCal™System:.......................................................51.2.SystemConfiguration:.........................................................................81)PCwithDynaCal™Software:...............................................................102)DynaCal™MeasurementHardware:....................................................113)SerialData-AcquisitionBoxwithCommunicationCables:....................124)BaseandMeasurementAdaptors:.......................................................131.3.Robot-CellCalibration-Theory:.......................................................142.DynaCalRobot-CellCalibration-GeneralProcedure:......172.1.IdentificationandCompensation:.....................................................172.2.Filtervs.DirectEntry:........................................................................172.3.CalibrationofRobot,End-Effector,andFixture(orPositioner):....201)TheRobot:............................................................................................202)TheEnd-Effector:.................................................................................223)TheFixture(orPositioner/Track):.........................................................232.4.TheChoiceofCalibrationPoints:.....................................................262.5.ApplicationsofCalibration:...............................................................291)Off-LineProgramming(OLP):...............................................................292)Cloning:................................................................................................303)Moving:.................................................................................................324)Maintenance:........................................................................................325)Other:....................................................................................................322.6.CalibrationPerformance(Accuracy):...............................................332.7.CalibrationTime:................................................................................353.DynaCalSoftware:................................................................383.1.Projects:..............................................................................................383.2.CalibrationResults:............................................................................393.3.AdditionalTools:................................................................................431)DirectandInverseKinematics:.............................................................432)MatrixMultiplication:.............................................................................433)BestFit:................................................................................................444)User/TCPFrameConversion:..............................................................445)KinematicModeler(Optional):..............................................................446)Export/ImportofKinematicParameters(Optional):..............................453.4.MaintenanceModuleforquickrecovery:.........................................454.DynaCalHardware:...............................................................47CONFIDENTIALINFORMATION–Dynalog,Inc.3/784.1.MeasurementCable:...........................................................................474.2.CableTension:....................................................................................484.3.MeasurementCableOut-of-RangeSafeguard(seeFigure32):......494.4.PrecisionMeasurementDrum:..........................................................504.5.PrecisionPulleys:...............................................................................514.6.BaseandMeasurementAdaptors:....................................................524.7.Risers:.........