Calibration Interface

The calibration interface is used to compute the new kinematic mod­el for the robot based on the recorded poses and measurements.

 

Best Practice for Running a Calibration

  1. With measurements and poses captured, open the calibration interface by right-clicking the calibration set of interest and choosing Calibration Interface.

  2. Ensure a good initial starting condition by pressing Rough-fit tool tips to measurements. The overall errors will reduce greatly as the measurements and tool tip positions are best-fit to one another.

  3. The initial Degrees of Freedom (DOF) are to allow the base and tool to move freely while maintaining the nominal kine­matics.The tool DOF should only be set to 6 DOF when 6 DOF measurements are present. Press Run Calibration to start the optimization.

  4. Now, if desired, allow the Robot kinematics to vary by choos­ing Partial or Full. Press Run Calibration to start the optimization.

  5. At any time, make sure to validate any potential outliers and remove by un-checking the pose and re-running the optimization by pressing Run Calibration.

  6. Once satisfied with optimization, generate a report for external sources and / or apply the new calibration to SA by press­ing Apply.

  7. This calibration will now be used when moving the robot with SA Kinematics