Chico joint calibration - Revision history

Giovanni Saponaro: /* General calibration procedure */ rephrase bits about emergency button

2012-07-02T13:59:54Z

General calibration procedure: rephrase bits about emergency button

← Older revision		Revision as of 13:59, 2 July 2012
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	* Power-cycle (i.e., switch off and on) the board controlling the joint that you want to calibrate.		* Power-cycle (i.e., switch off and on) the board controlling the joint that you want to calibrate.

	* ~~Launch~~ <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/conf/icubRaw.ini</code> ~~- the emergency/fault button must be pressed down~~		* With the emergency/fault button pressed down, launch <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/conf/icubRaw.ini</code>

	* Launch <code>robotMotorGui</code>		* Launch <code>robotMotorGui</code>
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	* Update <code>$ICUB_ROOT/app/iCubLisboa01/conf/icub_<limb>.ini</code> as well.		* Update <code>$ICUB_ROOT/app/iCubLisboa01/conf/icub_<limb>.ini</code> as well.

	* ~~Launch~~ <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/conf/icubSafe.ini</code> ~~- again, the emergency/fault button must be pressed down~~		* With the emergency/fault button must be pressed down, launch <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/conf/icubSafe.ini</code>

	* Verify these things:		* Verify these things:

Giovanni Saponaro: /* Example: shoulder calibration */

2009-11-13T16:32:45Z

Example: shoulder calibration

← Older revision		Revision as of 16:32, 13 November 2009
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	* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above, and proceed in this order:		* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above, and proceed in this order:
	** Manually place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values provided by <code>robotMotorGui</code>; let's call them "first value" and "second value".		** Manually place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values provided by <code>robotMotorGui</code>; let's call them "first value" and "second value".
	** Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the first two values ~~you compute~~, while the third joint is in a position that corresponds to the desired zero. Take note of the "third value" provided now by <code>robotMotorGui</code>.		** Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the first two values are given by the formula, while the third joint must be in a position that corresponds to the desired zero. Take note of the "third value" provided now by <code>robotMotorGui</code>.

	* Update the XLS file as per general procedure.		* Update the XLS file as per general procedure.

Giovanni Saponaro: /* Example: shoulder calibration */

2009-11-13T16:27:39Z

Example: shoulder calibration

← Older revision		Revision as of 16:27, 13 November 2009
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	* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above, and proceed in this order:		* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above, and proceed in this order:
	** Manually place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values provided by <code>robotMotorGui</code>; let's call them "first value" and "second value".		** Manually place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values provided by <code>robotMotorGui</code>; let's call them "first value" and "second value".
	** Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the first two values you compute, while the third joint is in a position that corresponds to the desired zero. Take note of the "third value" provided by <code>robotMotorGui</code>.		** Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the first two values you compute, while the third joint is in a position that corresponds to the desired zero. Take note of the "third value" provided now by <code>robotMotorGui</code>.

	* Update the XLS file as per general procedure.		* Update the XLS file as per general procedure.

Giovanni Saponaro: /* Example: shoulder calibration */

2009-11-13T16:27:15Z

Example: shoulder calibration

← Older revision		Revision as of 16:27, 13 November 2009
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	* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above, and proceed in this order:		* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above, and proceed in this order:
	** Manually place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values provided by <code>robotMotorGui</code>; let's call them "first value" and "second value".		** Manually place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values provided by <code>robotMotorGui</code>; let's call them "first value" and "second value".
	** Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the third joint is in a position that corresponds to the desired zero. Take note of the "third value" provided by <code>robotMotorGui</code>.		** Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the first two values you compute, while the third joint is in a position that corresponds to the desired zero. Take note of the "third value" provided by <code>robotMotorGui</code>.

	* Update the XLS file as per general procedure.		* Update the XLS file as per general procedure.

Giovanni Saponaro: /* Example: shoulder calibration */

2009-11-13T16:26:18Z

Example: shoulder calibration

← Older revision		Revision as of 16:26, 13 November 2009
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	* With <code>canLoader20</code>, flash the old firmware version 1.51 to board number 2 (example for right shoulder: pcan, net 2, board 2).		* With <code>canLoader20</code>, flash the old firmware version 1.51 to board number 2 (example for right shoulder: pcan, net 2, board 2).

	* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above, and:		* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above, and proceed in this order:
	** ~~manually~~ place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values provided by <code>robotMotorGui</code>; let's call them "first value" and "second value".		** Manually place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values provided by <code>robotMotorGui</code>; let's call them "first value" and "second value".
	** Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the third joint is in a position that corresponds to the desired zero. Take note of the "third value" provided by <code>robotMotorGui</code>.		** Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the third joint is in a position that corresponds to the desired zero. Take note of the "third value" provided by <code>robotMotorGui</code>.

Giovanni Saponaro: /* Example: shoulder calibration */

2009-11-13T16:25:34Z

Example: shoulder calibration

← Older revision		Revision as of 16:25, 13 November 2009
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	* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above, and:		* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above, and:
	** manually place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values provided by <code>robotMotorGui</code>; let's call them "first value" and "second value".		** manually place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values provided by <code>robotMotorGui</code>; let's call them "first value" and "second value".

	** Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the third joint is in a position that corresponds to the desired zero. Take note of the "third value" provided by <code>robotMotorGui</code>.		** Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the third joint is in a position that corresponds to the desired zero. Take note of the "third value" provided by <code>robotMotorGui</code>.

Giovanni Saponaro: /* Example: shoulder calibration */ restructure

2009-11-13T16:25:27Z

Example: shoulder calibration: restructure

← Older revision		Revision as of 16:25, 13 November 2009
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	* With <code>canLoader20</code>, flash the old firmware version 1.51 to board number 2 (example for right shoulder: pcan, net 2, board 2).		* With <code>canLoader20</code>, flash the old firmware version 1.51 to board number 2 (example for right shoulder: pcan, net 2, board 2).

	* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above~~. Manually~~ place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values provided by <code>robotMotorGui</code>; let's call them "first value" and "second value".		* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above, and:
			** manually place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values provided by <code>robotMotorGui</code>; let's call them "first value" and "second value".

	* Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the third joint is in a position that corresponds to the desired zero. Take note of the "third value" provided by <code>robotMotorGui</code>.		** Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the third joint is in a position that corresponds to the desired zero. Take note of the "third value" provided by <code>robotMotorGui</code>.

	* Update the XLS file as per general procedure.		* Update the XLS file as per general procedure.

Giovanni Saponaro: /* General calibration procedure */

2009-11-13T16:19:56Z

General calibration procedure

← Older revision		Revision as of 16:19, 13 November 2009
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	* Verify these things:		* Verify these things:
	** that the zero position makes physical sense, i.e., it is really close to the desired zero;		** that the zero position makes physical sense, i.e., it is really close to the desired zero;
	** manually move the joints a bit around the zero position, check that the values provided robotMotorGui are changing continuously, without glitches or jumps		** manually move the joints a bit around the zero position, check that the values provided by <code>robotMotorGui</code> are changing continuously, without glitches or jumps

	* Calibration is now complete. You are ready to run <code>iCubInterface</code> with the motors enabled (emergency button up).		* Calibration is now complete. You are ready to run <code>iCubInterface</code> with the motors enabled (emergency button up).

Mtaiana: changed "to how" to "how to"

2009-11-13T16:19:53Z

changed "to how" to "how to"

← Older revision		Revision as of 16:19, 13 November 2009
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	We explain here to ~~how~~ calibrate Chico's joint encoders.		We explain here how to calibrate Chico's joint encoders.

	= General calibration procedure =		= General calibration procedure =

Giovanni Saponaro: /* Example: shoulder calibration */

2009-11-13T16:11:27Z

Example: shoulder calibration

← Older revision		Revision as of 16:11, 13 November 2009
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	* With <code>canLoader20</code>, flash the old firmware version 1.51 to board number 2 (example for right shoulder: pcan, net 2, board 2).		* With <code>canLoader20</code>, flash the old firmware version 1.51 to board number 2 (example for right shoulder: pcan, net 2, board 2).

	* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above. Manually place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values; let's call ~~these~~ "first value" and "second value" ~~in <code>robotMotorGui</code>~~.		* For the <code>icubRaw.ini</code> phase, follow the instructions of the general calibration procedure above. Manually place the 3 shoulder joints to a position that is consistent to the desired values (0, 0, any). This corresponds to the arm being vertical and perpendicular to the floor. Write down the first two encoder values provided by <code>robotMotorGui</code>; let's call them "first value" and "second value".

	* Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the third joint is in a position that corresponds to the desired zero. Take note of the "third value" provided by <code>robotMotorGui</code>.		* Next, manually put the shoulder to position (first value - 30, second value + 30, 0), which means that the third joint is in a position that corresponds to the desired zero. Take note of the "third value" provided by <code>robotMotorGui</code>.