Abstract
The paper presents a method to evaluate the status of an industrial robot (IR) model (ABB IRB 140) in terms of positioning accuracy and repeatability and a method of calibrating this robot using the ABB pendulum kit. These methods are required after servicing the robot, or if the robot’s batteries have been discharged or changed. In these cases, classical software calibration is no longer sufficient because the encoder positions are lost. This issue can be solved only using the pendulum calibration kit (or similar systems such as ABB’s newest “axis calibration kit”).
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