Chico joint calibration

We explain here to how calibrate Chico's joint encoders.

Power-cycle (switch off and on) the board controlling the joint we need to calibrate.

Launch: iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/conf/icubRaw.ini (emergency/fault button must be pressed) robotMotorGui

Manually align the joints to the zero position and write down the values provided by robotMotorGui

Open $ICUB_ROOT/app/iCubLisboa01/conf/iCub_Calibration_Lisboa_001.xls

Go to the desired joint section; edit the yellow values that we have noted down and observe the resulting red values.

Edit $ICUB_ROOT/app/iCubLisboa01/conf/icub_<limb>_safe.ini and write the new "red" values: Zeros, Min, Max, Encoders, Calibration1, Calibration3.

Update $ICUB_ROOT/app/iCubLisboa01/conf/icub_<limb>.ini as well.

Launch iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/conf/icubSafe.ini (emergency/fault button must be pressed)

Verify that:

• the zero position is really zero;
• manually move the joints a bit around the zero position and verify that the values ini robotMotorGui are continuously moving (without glitches or jumps)

Calibration is complete. You are ready to run iCubInterface with the motors enabled (emergency button up)

Shoulder calibration

With canLoader20, flash the old firmware version 1.51 to board number 2 (example for right shoulder: pcan, net 2, board 2).

icubRaw.ini phase: Follow the procedure in the beginning of this article; put the 3 shoulder joints in position (0, 0, any), corresponding to the arm being vertical and perpendicular to the floor. Write down the first two encoder values.

Manually move the shoulder to a position (before-30, before+30, 0). Write down the third value.

Update the XLS file.

With canLoader20, flash back to the new firmware version 1.53.