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match_ur_control_backup

Backup of the .urcontrol folder for all match URs

How to Restore Calibration to a New Polyscope Installation

To restore the calibration data from these backups to a new Polyscope installation on an SD card:

Prerequisites

  • A computer with an SD card reader
  • The SD card from your UR robot controller
  • Basic familiarity with command line or file management

Step-by-Step Instructions

  1. Identify the correct backup: Check the table below to find the backup that matches your robot's serial number or characteristics.

  2. Extract the backup:

    unzip backup_XXX.zip

    Replace XXX with the appropriate backup number (e.g., backup_112.zip).

  3. Prepare the SD card:

    • Insert the SD card from your UR robot controller into your computer
    • The SD card should have a partition that contains the Polyscope installation

  4. Locate the .urcontrol directory:

    • On the SD card, navigate to the root directory
    • You should see a directory named .urcontrol (it may be hidden)

  5. Backup your current calibration (recommended):

    cp -r /path/to/sd_card/.urcontrol /path/to/sd_card/.urcontrol_backup_$(date +%Y%m%d)

  6. Copy the calibration files:

    cp -r .urcontrol_XXX/* /path/to/sd_card/.urcontrol/

    Replace XXX with the appropriate backup number.

  7. Verify the files were copied correctly:

    • Check that calibration.conf exists in the .urcontrol directory
    • Verify other calibration files are present (calibration_trajectory_*.ct files)

  8. Safely eject the SD card and reinsert it into your UR robot controller.

  9. Power cycle the robot for the changes to take effect.

Important Notes

  • Always backup your current calibration before overwriting it
  • Use the correct backup for your specific robot - mixing calibrations between robots can cause issues
  • Power cycle required - the robot needs a full restart to load the new calibration data
  • Test carefully - after restoring, test the robot's movement in a safe area

Calibration Data Comparison Table

Below is a comparison of the calibration parameters from each robot backup:

Robot ID Calibration Status Joint Checksums Key Delta Parameters

Robot 112

  • Status: Linearised (2)
  • Joint Checksums: [0xb630883c, 0xb61f6e2e, 0xb5484b61, 0xb612c3a2, 0xb62bd7bc, 0xb61c0e94]
  • Delta Theta: [5.64e-07, -1.217, 1.212, 0.00484, -2.81e-07, -8.62e-08]
  • Delta A: [0.000127, 0.4006, 0.000150, 5.37e-05, -9.61e-05, 0]
  • Delta D: [-6.88e-06, 1935.67, -1935.34, -0.3315, -0.000104, -0.000962]

Robot 117

  • Status: Linearised (2)
  • Joint Checksums: [0xb459a61e, 0xb45528a6, 0xb53963ab, 0xb41a0255, 0xb417126d, 0xb40d200b]
  • Delta Theta: [-4.30e-07, 0.1814, -0.2489, 0.06749, 9.59e-07, -8.13e-08]
  • Delta A: [0.000111, 0.01038, 0.001519, 5.71e-06, -4.56e-05, 0]
  • Delta D: [6.17e-05, 556.95, -562.19, 5.2409, -0.000201, -0.001058]

Robot 118

  • Status: Linearised (2)
  • Joint Checksums: [0xb420f4ad, 0xb4409feb, 0xb553930a, 0xb411c00e, 0xb418cc4f, 0xb417175a]
  • Delta Theta: [-2.12e-08, 0.08526, -0.1634, 0.07814, -5.51e-07, 1.35e-07]
  • Delta A: [0.000119, 0.002574, 0.002024, -3.24e-05, 3.28e-05, 0]
  • Delta D: [0.000286, 76.762, -83.383, 6.6206, -0.000122, -0.000937]

Robot 119

  • Status: Linearised (2)
  • Joint Checksums: [0xb455f77a, 0xb437b9f9, 0xb531fd6e, 0xb4249736, 0xb412c748, 0xb4159beb]
  • Delta Theta: [-2.02e-07, 1.1667, -0.8036, -0.3630, 6.26e-07, -6.46e-07]
  • Delta A: [3.599e-05, 0.37187, 0.03761, 2.029e-05, 8.37e-06, 0]
  • Delta D: [-3.65e-05, 435.77, -468.05, 32.2789, -9.01e-05, -0.000990]

Robot 124

  • Status: Linearised (2)
  • Joint Checksums: [0xb422f034, 0xb426d1c5, 0xb51f078c, 0xb42cfe2c, 0xb4085ec0, 0xb60c5894]
  • Delta Theta: [-1.08e-07, 1.1680, -1.2557, 0.08772, 5.66e-07, -7.58e-07]
  • Delta A: [8.745e-05, 0.37264, 0.002494, -2.41e-05, 5.98e-05, 0]
  • Delta D: [0.000127, 597.79, -604.85, 7.0589, -0.000134, -0.000920]

Robot 125

  • Status: Linearised (2)
  • Joint Checksums: [0xb435bb63, 0xb441d7b1, 0xb5198b08, 0xb40d9f92, 0xb41b2338, 0xb42edc4e]
  • Delta Theta: [-1.42e-07, 0.6731, -0.8223, 0.1492, 1.22e-06, 4.74e-09]
  • Delta A: [0.000105, 0.13394, 0.006690, -1.038e-05, 1.028e-05, 0]
  • Delta D: [0.000248, 681.73, -696.41, 14.6725, -0.000155, -0.000962]

Technical Details

Calibration Status Codes

  • 0 = notInitialized
  • 1 = notLinearised
  • 2 = Linearised (fully calibrated)

Parameter Explanations

  • delta_theta: Joint angle offsets in radians
  • delta_a: Link length offsets in meters
  • delta_d: Link offset corrections in meters
  • delta_alpha: Joint twist angle corrections in radians
  • joint_checksum: Unique identifiers for each joint's calibration
  • joint_raw_offset: Raw encoder offset values

File Contents

Each backup contains:

  • calibration.conf - Main calibration configuration
  • calibration_trajectory_*.ct - Calibration trajectory files for different robot models
  • joint_motor_calibration_id*.txt - Individual joint motor calibration data
  • robot_calibration_summary.txt - Summary of calibration results
  • calibration.log - Calibration process log

Troubleshooting

If you encounter issues after restoring calibration:

  1. Double-check file locations: Ensure files are in the correct .urcontrol directory
  2. Verify file permissions: Files should be readable by the Polyscope system
  3. Check robot behavior: Test in reduced speed mode first
  4. Restore from backup: If issues persist, restore your original calibration

For critical production systems, consider contacting UR support before making calibration changes.