Calibration Program

This is the generic logic of Calibration for all kinds of robot. If you want to see Calibration of individual robot, you can go to Different type of Robots to find the specific Calibration program under the robot page.

Warning

You must make sure the Euler Angle Order is matching before you working on Calibration. TODO

The Calibration programs and VMPlayer are in here. Details for UR Calibration program is in here.

Calibration process needs some setup beforehand:

• Calibration Tool: Calibration Chessboard or Calibration Ball installed on robot arm;

• Calibration Pose: According to different Calibration types, you would need to setup 1 or more waypoints;

In pseudo code:

Calibration():
        #Start Communication
        daoai_start_manual_calibration() #Opens socket, sends start signal to Vision

        #Accumulate Poses
        if(vision is in Calibration_mode):
                loop daoai_manual_accumulate_calibration():
                        move_robot(waypoint_n)
                end_of_loop

        #Depending on the type of Calibration, **Vision** or robot will trigger this stop signal

        daoai_stop_manual_calibration() # Close socket and halt robot program
        end_of_function