Step 7: Map the Wrists of Arm 2 Using SPHERE2

Repeat Step 6, but instead use Arm 2 with SPHERE 2. After both arms have calibrated the wrist angles, the following files are created or modified with the latest calibration data:

• *. PRB

• *. Results

• abcalib.dat and abcalib_CMM2.dat

• abcomps.dat and abcomps_CMM2.dat

• aboutput.dat and aboutput_CMM2.dat

• wrists.dat and wrists_CMM2.dat

• toolc.dat and toolc_CMM2.dat

• armarm.dat

• tool.dat

The next step provides information on mapping the origin between arms.