Robot, Tool and Workcell Calibration: The Keys to Fully Integrate Off-Line Programming

Abstract A successful transfer of off-line prepared robot programs to the real physical setup is based on "robotic cell calibration". This concept covers robot calibration as well as tool and environment calibration, eliminating all deviations between simulation and reality. The contents and the industrial realisation of the different calibration steps are clarified. Suitable measurement systems, such as RODYM ® and GCS300 ® are presented as well as different possibilities and requirements for the exploitation of the calibration results.