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
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.
this is not a UR problem. I’ve calibrated to a vision system with very high accuracy many times with UR. 3D and 2D.
Hey,
We are doubting also first that it is not UR problem. We tested the 2D and 3D calibration methods with another robots. The results are very good, consistent and we achieve high accuracy.
Until now, we are not reaching accuracy we want with UR.
What we observe these days, there are some random glitches.
When we open the TCP or poses the orientation is really changed sometimes.
Check the screenshoot of our TCP configuration:
The TCP is changed and has glitched.
For the screen with RX = 193.2600, RY = 147.1000, RZ = 150.7800 and
X = -74.5, Y = 227.42, Z = 350.9
T1 =
[[ 0.60551916, 0.76006574, -0.23589536, -74.5 ],
[-0.25460016, 0.46584655, 0.84744661, 227.42 ],
[ 0.75400617, -0.45308616, 0.47559187, 350.9 ],
[ 0. , 0. , 0. , 1. ]]
For the screen with RX = -50.1200, RY = -83.1600, RZ = -39.3000 and
X = -74.5, Y = 227.42, Z = 350.9
T2 =
[[ 0.03266330, 0.83939938, -0.54253275, -74.5 ],
[ 0.11374558, 0.53617370, 0.83640881, 227.42 ],
[ 0.99297283, -0.08903058, -0.07796477, 350.9 ],
[ 0. , 0. , 0. , 1. ]]
Do you have same issue here?
