Improve Accuracy #41
Description
The very basic PickPlace test has shown that the TCP position systemically varies with the elbow orientation.
A test from the PickPlace has been derived in which the robot approaches two points and draws a dot with a marker. Multiple solutions yield different elbow orientations. After all solutions have run both test points show two arrays of markers dots spaced about 25 mm apart. It is assumed that different elbow orientations cause this deviance.
Proposed Solution
Improve the homing procedure to reduce elastic effects, and measure the full range of motion of each joint to accurately determine the joints center position.
Figure 1: Testing two positions (left and right) in multiple ellbow configurations.
Figure 2: Test point 1 (right)
Figure 3: Test point 2 (left)