Unstable TCP positions

Technical Questions
1

Hey,

i have a problem with unstable TCP positions (jumps back and forth in the 000.xx range - see this video).

I have done the payload calculation (~3.5kg) many times, but this did not help.

UR10e - Polysope Version 5.23

Is this normal or is there anything other which i can do? The usecase i that i need a hand eye calibration with a 3D sensor, but due to the instability, I am not achieving satisfactory results.

Greetings, Markus

2

Hi, have you solved this issue? We tested three UR robots. All have issue with hand-in-eye and hand-to-eye. We doubt first that this is from our calibration method. But the we used two different robots and not facing problem with other robots. The residual is too big in UR.

3

this is not a UR problem. I’ve calibrated to a vision system with very high accuracy many times with UR. 3D and 2D.