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Material Removal Questions

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Hello, I am a mechanical engineer and work with Industrial Robots for Material removal processes. By the complexity of such applications (specially machining) off-line programming is more than needed. When using off-line programming we need to have a good calibrated robot system, but this culture is not well disseminated among manufacturers, once teaching (most used option) dilutes the error. Where could I get more information about Robot Calibration (TCP and Joints)? Or someone who knows about it? Thank you.

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