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Intera 3.2
Maintaining and Supporting Baxter
IMPORTANT During calibration, Baxter’s force sensing is turned off. Before calibrating the arms,
remove the grippers, and make sure the workspace is clear above the base of the robot. (Baxter's
arms calibrate above the work surface.) If it is not possible to clear the workspace, move Baxter
away from the workspace, and clear a 5-foot radius around the robot. While calibration is active, it
is important to maintain a distance outside of this 5-foot radius.
If one (or both) of the Baxter arms begins to lose pick and place accuracy while performing trained
tasks, try calibrating the arm(s) to fix the problem. Baxter offers three types of arm calibration:
• Basic – performs a basic calibration on the arm or arms selected; use as a first
step in fixing the problem. The process takes approximately 15 seconds per arm.
• Factory – performs a thorough calibration of all joints on the arm or arms
selected; use if spring calibration does not fix the problem. This process takes
approximately 7 minutes 20 seconds per arm.
Note:
Always follow up a Factory calibration with a Spring calibration.
• Spring – performs a shoulder calibration on the arm or arms selected; use if basic
calibration does not correct the problem. The process takes approximately 3
minutes 20 seconds per arm.
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