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calibration

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Precise control of the SO-101 arm · Part 6 of 8October 11, 202637 min read

Top: side view of the arm with the pan, shoulder lift, elbow flex, wrist flex and wrist roll joints named, and the distance R from the pan axis to the pen. Bottom: top view of the arm. One tick of the pan, drawn 100 times too big, moves the pen 0.354 mm, which is 231 mm times 1.534 mrad.

Where the last millimeter of my drawing arm goes

My SO-101 arm cannot see its own pen tip. A tablet can. Here is what the tablet showed: how much error a learned correction removes, which causes are left, and why the base joint matters most.

so-101 calibration measurement

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