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.

Y
Z
X

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 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 2
 Procedure of tool measuring

1.Step:

Determination of the TCP in relation

to the flange coordinate system
TCP without
tool measuring

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

YTool

ZTool TCP with

tool measuring
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 3
 Methods of tool measuring

1. TCP measuring

or

XYZ-Referenz
XYZ-4 Point

2. Orientation measuring

or or

ABC-World 5D 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 4
 Tool payload

To move the robot with maximum speed, its necassery

to set the correctly payload data

100 10kg
Moved load

kg

Maximum velocity / velocity

Dont forgett the extended payload!

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 payload data

M Weights of the payload.

X, Y, Z Distance between the tool point of gravity and the orgin of the robot flange
system

YFlange

ZFlange
XFlange

A, B, C 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 6
 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 7
 4 point method

Unknown Jog to reference point out of 4

tool diffrent directions. (P1 to P4)
P1

P4 Advice : Choose the last

orientation (P4) , so that +Xt
has the same direction as -ZW

XT Important: The different

P3 Orientations of the tool must
P2 differ a minimum amount.
Reference point ZW

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 8
 Sense of the tool measuring

Jogging

Reorientation around the

Tool Center Point (TCP)

TCP A B
Tool Center Point
C
+ZWORLD
ZT
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 9
 Example for the reorientation

The tool can be reorientated

around the tool center point at
every position, without loseing
the actual tool position.

TCP

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 ABC world 5D method

Using the method the working

tool direction has to be
parallel to the Z-Axis of
WORLD coordinate system.
The orientation of the other
Terms:
axes will be determinded by
XTool parallel to ZWorld the controller.

ZWorld
YTool
ZTool
XTool YWorld
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 11