7.3.2        Calibration

In real applications, the high absolute precision of robotic arm is required. The origin (400,0,0,0) has been set by default, Dobot M1 can be directly put in use. After parts (motors, reduction gear units, battery, etc.) have been replaced or robotic arm has hit the work piece, the origin of Dobot M1 will be changed. You need to reset the origin. When Dobot M1 moves with different arm orientation, the high precision of J2 is required. Therefore, after resetting the origin, you need to calibrate J2 to improve the absolute precision.

Generally, before and after switching the arm orientation at the same point, the J2 coordinates are axisymmetric. After resetting the origin, the J2 coordinates may become non-axisymmetric, resulting in that Dobot M1 cannot move to the same point with different arm orientation when implementing playback. It is necessary to make the J2 coordinates axisymmetric by compensating the joint angel of J2 to improve the absolute precision after resetting the origin. So that Dobot M1 can move to the same point with different arm orientation when implementing playback.

Prerequisites

Ÿ   Dobot M1 has been powered on.

Ÿ   Dobot M1 has been connected to the PC successfully.

Ÿ   Dobot M1 has been connected to the emergency stop switch.

Ÿ   The pen holder kit has been installed on the terminal. The size of the pen holder should be according with the size of the terminal. For details, please see 3.3 (Optional) Installing End Effector.

Ÿ   Please prepare an A4 sheet of paper, and draw a small dot as a calibrated point, as shown in Figure 7.20 .

Figure 7.20  Calibration point

 

Procedure

Step 1         Put the A4 sheet of paper into the workspace of Dobot M1.

Step 2         Click Initialization.exe in the installation directory /M1Studio/tools/Initialization directory.

The M1Studio tool page is displayed.

Step 3         Select the corresponding serial port from the serial drop-down list, and click Connect.

If Connect turns to Disconnect, the connection is successful, and Dobot M1 can be controlled by M1Studio.

Step 4         Click the  icon of Motor on the Calibration page to make the motor of Dobot M1 in the open-loop state.

Step 5         Jog Dobot M1 by hand.

Move Dobot M1 with righty hand orientation to touch the calibrated point that is on the A4 sheet of paper, as shown in Figure 7.21.

Figure 7.21  Calibration as righty hand orientation

 

Step 6         Click P1 on the Calibration page to save the point in Step 5.

The value of P1 is J2 coordinate with righty hand orientation, as shown in Figure 7.22.

Figure 7.22  Save J2 coordinate with righty hand orientation

 

Step 7         Jog Dobot M1 by hand to the same point inStep 5 with lefty hand orientation, as shown in Figure 7.23.

Figure 7.23  Calibration with righty hand orientation

 

Step 8         Click P2 on the Calibration page to save the point in Step 7.

The value of P2 is J2 coordinate with lefty hand orientation, as shown in Figure 7.24.

Figure 7.24  Calibration as lefty hand orientation

 

Step 9         Click the  icon of Motor on the Calibration page to make the motor of Dobot M1 in the close-loop state.

NOTICE

After saving P1 and P2, you cannot click Confirm until the motor of Dobot M1 is in the close-loop state.

 

Step 10      Click Confirm to make Dobot M1 move according to the calibrated point. Dobot M1 will finally move to (400,0,100,0).

DANGER

Dobot M1 starts to work after clicking Confirm. Please do not enter the workspace of the robotic arm, otherwise it will be vulnerable to injury the device or the person.














 Issue V1.2.1 (2019-04-10)User GuideCopyright © Yuejiang Technology Co., Ltd