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Zero Position Calibration

Before calibration, airbot_play package should be installed first. See here.

1. Boot up AIRBOT Play

  • alt text

    • Attach the power cable to AIRBOT Play. The cable should be plugged into the power port (green part).
    • Connect the computer to the AIRBOT Play with a USB cable. The USB cable should be plugged into the USB-2 port (blue part).
    • Press the power button (red part) for about 3 seconds until all the yellow light beads light up in turn. Wait for the yellow light to turn white to complete the boot.

2. Manual Zero Calibration

Run the following command, the motors of the robot arm should be released and free to move:

# Replace <can_device> with the actual CAN device name, e.g. can0
airbot_set_zero -m <can_device>

Then, manually drag the robot arm to the zero positions.

Positions of Motors during Manual Calibration

The positions for manual calibration are:

align-whole

Specifically, for the six motors of the robot arm:

  • Motor 1: Align the markers on the right side of the arm base:

  • align-1

  • Motor 2 and 3: Release the arm and let the motors move freely according to gravity.

  • Motor 4: Align the markers on the top side of the arm:

  • align-2

  • Motor 5: Align the markers on the top side of the arm:

  • align-3

  • Motor 6: Manually rotate the motor so that the end effector is horizontal

After the robot arm is in positions for calibration, press Enter to complete the calibration. Clicking sounds will be heard as the first three motors are locked in the calibration positions.