Taring
Position Tare
Use a hardware rig that fixes the passive arm in the zero-position, set zero positions.
Torque Tare
Use a hardware rig that braces each joint, set zero-torque. For each joint apply torque that will apply a known force against the rig’s contact position for that joint/link, check calculated torque against measured.
Camera Calibration
Use the default Intel calibration tool which is compatibel with Framos cameras and utilizes are checkerboard pattern.
Offset Calibration
Hand-eye
Place an april tag on the end effector mounted with a known transofrm from EEF frame, move the arm to a number of poses and record robot and tag poses. Estimate the camera→arm transform as a seed. Run an optimizer to determine the transform that minimizes error between the direct measured pose in camera frame and the camera→tag pose measured through camera→arm→eef.
