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Robot Arm Calibration for Schunk 7-DOF Arm

asked 2011-05-02 10:04:26 -0500

David Fischinger gravatar image

updated 2014-01-28 17:09:37 -0500

ngrennan gravatar image

I am searching for a sophisticated way to calibrate a Schunk (Amtec) arm where some joints are not in zero position (when they should be). Is there a ROS package for this purpose? Would it be possible/recommended to use the pr2_calibration stack? Thanks for advice, David

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answered 2011-07-11 22:01:26 -0500

There has been a similar question with excellent answers here. In summary: Theoretically, you should use the robot_calibration and/or pr2_calibration stacks, and there seems to be a lot of interest in that, but at the moment these stacks are not really portable. That means you will have to do some serious reconfiguration to get it going on your robot.

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answered 2011-07-14 04:07:18 -0500

vpradeep gravatar image

The PR2 definitely needs its joints re-zeroed during the calibration process, and the pr2_calibration stack does take care of this. However, I will reiterate Martin's response in that the stack is not designed to be portable, and further information is available at http://answers.ros.org/question/102/how-can-i-calibrate-my-real-robot.

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Asked: 2011-05-02 10:04:26 -0500

Seen: 878 times

Last updated: Jul 14 '11