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Calibration Procedure

If the upper limb posture appears abnormal or if the motors have been replaced, you should perform zero calibration. The calibration procedure is as follows:

  • Turn off the robot actuators and the embedded robot computer.
  • Insert the calibration tool into the robot's lower limbs and waist joint pinholes. There are 6*2 zero-position pinholes in the lower limbs and 3*1 zero-position pinholes in the waist.

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  • Connect the embedded robot computer to a monitor through the extension dock. Plug in a keyboard and a mouse into the extension dock as well.

  • Release the Emergency Stop switch and power on the embedded robot computer. The login password is fftai2015.

  • Open a terminal and do the following:

Run the following command:

  ```powershell
  cd ~/Documents/server_app/bin/pythonscripts/
  python3 abs_run.py

  ```

Success

If prompted with get abs angle complete!, it indicates getting absolute angle successfully.

Run the following commands:

  ```powershell
  python3 checkabsjson.py
  python3 setmotorzeropos.py
  ```

Success

If prompted with Set Motor Zero Position Success, it signifies successful zero-point setting.

  • Shut down the embedded robot computer.
  • Press down the Emergency Stop switch.
  • Remove the calibration tools. Ensure that all calibration tools have been removed before proceeding with other operations.