KUKA KR6 calibration problems

[ramiroelliot]

Hey everyone,

I work in a lab where we use a KUKA KR6 for experiments and to teach students. I recently conducted a workshop on marker painting and experienced uneven results.

Lately, I've encountered a strange problem during the calibration process. When I attempt to calibrate the tool using 4-point calibration, I get a 3-4 mm error despite performing a very precise calibration. Additionally, when I try to calibrate the base using 3-point calibration, I encounter small errors in the z-axis, resulting in uneven distances of the tip from the base.

Is anyone familiar with this problem? I've already reset the robot multiple times, so I don't think that's the issue. I'm using KUKA PRC to generate the code from Grasshopper.

Any advice will be much appreciated.

[Johannes @ Robots in Architecture]

Hello,

Just to put it first, that problem is definitely not related to KUKA|prc.
That being said, it is possible that the robot needs to be mastered. Maybe it was handled roughly by students or maybe by the cleaning crew. Ideally you have got an EMD, the mastering process is pretty straightforward and documented in the KUKA instructions. If you don't have an EMD, then there are some creative things that are also possible. I would definitely recommend taking a look into the documentation to get an understanding of the process, no matter if you have got an EMD or not. If needed, I can provide some pointers!

Best,
Johannes