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Download Development of ISO Compliant Repeatability Procedures for
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Fig. 38. Laboratory set-up for the Direct Contact Method. After hardware set-up, the UR10 must be taught all of the necessary contact positions along the gauge block. This step involves aligning the gauge block to the UR10 (Fig. 39) and manually teaching the robot to touch five positions on each face. These positions correspond to the five pockets on the vertical faces of the gauge and four pockets plus the raised middle surface on the top face. 65
