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AndreAndre Posts: 17 Apprentice
Good afternoon everyone,

I am using a UR5 CB-series and, while having a look at the files in the "expert mode" I run into the txt files about joint calibration and, after opening them, I saw that, for each joint, there are, among other data, the following info:

  Eccentricy tau        : 0.10776 
  Eccentricy sigma      : 0.03001 
  Eccentricy mean       : 0.33603 mrad
  Eccentricy max        : 0.64359 mrad

Does anyone knows to what they are referring? In particular the first 2 values: eccentricy tau and sigma?

Thank you very much fro your help

Best regards



  • David_GariepyDavid_Gariepy Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 186 Handy
    @JacobBom can you help? 

    David Gariépy
    Integration Coach
  • JacobBomJacobBom Posts: 11 Handy
    The values are used internally in the calibration procedure of the robot.
    They are noted in this file only for logging.
  • AndreAndre Posts: 17 Apprentice
    Thank you for your answer @JacobBom,
    but I would like to build a mathematical model of the UR5 for research purposes at my univerisity and so I was wondering if these parameters would be useful and I would be very great to you if you could tell me or send me a document, if it is possible, to know how these values are used and how they affect the calibration procedure. For example, what "eccentricity tau" phisically represents and it's effect and so on.

    Thank you very much for your help.
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