Kinematic Calibration

This process describes how to align the zero position of the joints of a two-armed robot with the URDF reference.

• Preparation

This process can only be performed on a robot that has undergone approximate zero-point alignment.

The process includes moving the arms freely with gravity compensation. If the gravity compensation torque is significantly different from the required value, the robot may perform unsafe movements.

• Step 1

Use the code from example/gravity_compensation to activate gravity compensation mode on both arms. If the mode works correctly, a person should be able to move the robot's arms freely.

• Step 2

Fix the provided calibration kit to both arms and run the example/get_robot_state code.

• Step 3

Collect joint position data in various postures (more than 20) and save the data.

• Step 4

Run the example/kinematic_calibration code. The deviation between the current robot's zero position and the URDF reference will be displayed using the collected data and pre-defined calibration kit information.

• Step 5

Move the robot to the position obtained from the previous step and perform a zero-point reset. For instructions on resetting the zero point, refer to Zero-Point Reset Method.