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I hope this may help those who are new to UR robot.

I talked to UR technical support and was aware of the calibration.config file generated from kinematic calibration[1]. The kinematic solutions, namely forward and inverse, must be compensated according to calibration. For example, compensate for DH parameters in forward kinematics, compensate for position error in inverse kinematics using Jacobian inverse.

A detailed discussion that might help in using the calibration data can be found here[2].