5.3.3. Calibration

5.3.3.1. sawRobotIO1394CurrentCalibration

This application is used to calibrate the analog-to-digital current feedback offsets as well as the digital-to-analog offsets for the commanded motor current. This is a required step for the initial calibration of each set of arm and matching controller.

Usage is described in the Classic motor current calibration section.

5.3.3.2. dvrk_calibrate_potentiometers.py

  • ROS Python script with a text based interface, it depends on CRTK/dVRK Python to communicate with the dVRK system. The dVRK system must be running at the same time, with the options -C -i ...

  • ROS package dvrk_python

  • Compatible with dVRK Classic active arm controllers only (not SUJ or anything dVRK-Si)

  • https://github.com/jhu-dvrk/dvrk_python/tree/devel/scripts

This application is used to calibrate the analog-to-digital conversion from potentiometer voltages to positions in SI units. Each voltage is converted to a position using a linear function. This script is used to estimate the scale and offset for the linear conversion.

Usage is described in the Classic potentiometer calibration section.

5.3.3.3. dvrk_calibrate_potentiometer_psm.py

  • ROS Python script with a text based interface, it depends on CRTK/dVRK Python to communicate with the dVRK system. The dVRK system must be running at the same time, with the options -C -i ...

  • ROS package dvrk_python

  • Compatible with dVRK Classic PSM only (not SUJ, MTM, ECM or anything dVRK-Si)

  • https://github.com/jhu-dvrk/dvrk_python/tree/devel/scripts

This application is used to calibrate the analog-to-digital conversion from potentiometer voltages to positions in SI units. It allows the user to calibrate the 3rd potentiometer offset and nothing else.

Usage is described in the Classic PSM third joint potentiometer offset section.

5.3.3.4. sawIntuitiveResearchKitGripperCalibration

This application is used to calibrate the analog-to-digital conversion from the Hall Effect sensors used for the MTM grippers.

Usage is described in the Classic MTM gripper calibration section.

5.3.3.5. sawIntuitiveResearchKitSiPotentiometersCalibration

This application is used to calibrate the digital potentiometers on the Si PSMs and ECM. It defines the home position.

Usage is described in the Si PSMs and ECM potentiometers calibration section.

5.3.3.6. dvrk_calibrate_suj.py

  • ROS Python script with a text based interface, it depends on CRTK/dVRK Python to communicate with the dVRK system. The dVRK system must be running at the same time, with the options -s

  • ROS package dvrk_python

  • Compatible with dVRK-Si SUJ only

  • https://github.com/jhu-dvrk/dvrk_python/tree/devel/scripts

This script is used to calibrate the potentiometers for the 4 SUJ arms of the dVRK-Si. The script relies on mechanical limits to compute the scales and offsets used for the conversion from voltages to SI positions.

Usage is described in the Si SUJ potentiometers calibration section.

5.3.3.7. dvrk_camera_registration.py

ROS Python script, see documentation in dvrk_camera_registration GitHub repository.