Robot Calibration (Beta)

This documentation provides a guide for performing Robot Calibration. It covers topics including camera setup, data collection, and verification.

The rationale for performing Robot calibration is that manufacturing and assembly tolerances lead to a discrepancy between the original design of the Robot and the physical reality of the final product. These need to be accounted for so that the control software can accurately move the Robot to the correct location, and they are what the calibration measures. In most Robots this is done as a production step, but given the modular nature of our hardware, we need to be able to do this in the field.

What calibration does

Every Robot leaves the factory with a generic kinematic model. Calibration measures your specific Robot's true joint geometry and corrects that model, so the Robot reaches its maximum possible accuracy.

In short: the Robot is driven through many poses, a measurement device records where the target actually is at each pose, and an optimizer fits the model to that data. Re-run the calibration whenever accuracy drifts or Robot modules are swapped.