Robo Dyn Overview What is Robo Dyn Robo

Robo. Dyn Overview

What is Robo. Dyn

“Robo. Dyn is a metrology packet that units robotics and metrology, in order to calibrate, norm and facilitate automated processes”

General Robotics

General Robotics • • Powerful IK solver Deal with robot configurations Auto generate robotic paths Analyze line of site issues Simulate the processes offline Generate native robot programs Directly control the robot

Calibration

Calibration • Auto generate calibration path • Simulate visibility and accessibility • Direct calibration of physical parameters ― No use of look up tables • Workspace specific calibrations

Supported parameters • Base alignment • TCP/Tool offset • Link geometries ― DH parameters • Joint Parameters ― Reduction Ratio ― Coupling Ratio • Elasticity Parameters ― Torsional and linear springs

Calibration Process • Very fast and intuitive process ― In general ~30 poses to measure 3 2 1 • Use different calibrations for different situations • Deal with linear axes using indexed calibrations • Deal with temperature fluctuation using different calibrations

ISO 9283

ISO 9283 • • Auto generation of poses for ISO Simulate visibility and accessibility Custom test and test cycles settings Measure tests using: ― Stable point ― IO control ― Direct robot control • Result export including all measured data

ISO 9283 Supported Tests • • • Pose accuracy/repeatability variation Distance accuracy/repeatability Position stabilization time Position overshoot Drift of pose characteristics Path accuracy/repeatability on reorientation Cornering deviation Path velocity characteristics Minimum posing time Weaving deviation

Questions