Calibrate robotic arm gripper

Note: The Jetcobot robotic arm has been calibrated before leaving the factory. Please do not calibrate it unless necessary. If you must calibrate the robotic arm, please follow the instructions in this tutorial.

This course calibrates the six joints of the robotic arm, but does not include calibrating the gripper.

1. API Introduction

release_servo(id)

Function: Release the torque of a joint of the robot arm. After the release, the corresponding joint (servo) can be changed by hand.

Parameter explanation:

• 【id】：The robotic arm joint ID number ranges from 1 to 7, where the value 7 represents the gripper.
• Return value: None

set_gripper_calibration()

Function: Set the current gripper angle to the maximum value of 100.

Parameter explanation:

• Return value: None

2.About code

Code path：~/jetcobot_ws/src/jetcobot_calibration/scripts/cali_gripper.ipynb

Create three new buttons to control the release, calibration, and reading functions of the robotic arm gripper.

​x
# 读取机械臂关节角度 Read
button_Read = widgets.Button(     
    description='Read',        
    button_style='info', # 'success', 'info', 'warning', 'danger' or ''     
    tooltip='Description',
    icon='uncheck' )

# 校准机械臂 Calibration
button_Calibration = widgets.Button(     
    description='Calibration',        
    button_style='success', # 'success', 'info',
 Calibrate robotic arm joint
Camera driver