Force Torque Calibration

Guide to the Force Torque Sensor Calibration.

Please note that this feature is only available for UFactory xArm6 and UFactory xArm7.

For certain cobots with a dedicated hardware force torque sensor, the AMAS application allows the user to experience feedback from the gripper during movements and interaction with various things in the form of visuals and haptics.

Before performing the Force Torque Sensor Calibration, please make sure that the robot's safety radius is clear of obstacles and do not stand near it.

For first-time usage of the feature and while setting up the robot for this capability, you need to calibrate the sensor with the application. Let's go through the process of doing so:

1. Click the Configuration tab in the wrist panel.

2. Click on the dropdown button next to the Cortex button, which will open Robots and Sensors buttons.

3. Press on the Robots button, which will open the Active Robots panel.

4. Select the robot with the force torque sensor you wish to calibrate.

5. Now click on Calibrate in the Modify Current Robot Panel.

6. Now click on Force Torque Calibration button.

7. This should start the calibration process, which should take 10-15 minutes. During this time, the robot will move automatically to estimate payload and TCP points.

8. After the calibration process is finished, the application will notify you and may ask you to realign the digital twin to the real position of the robot, which can be done with the realign button on the controller.

Currently, the process leaves the robot outside the joint limits. While we are working hard to make this process seamless, in the meantime, you can utilize the robot rescue feature of AMAS to bring it back to within the joint limits: Robot Rescue