Calibration Drift in Annin Arm: Robot Deviates from Home Position Over Multiple Cycles

[AravindRemesh]

During testing of the Annin Arm robotic system for calibration accuracy, a significant drift issue was observed. After executing multiple action cycles, the robot gradually deviates from its original home position. Notably, the encoder readings report that the robot remains in its initial position, indicating a discrepancy between actual physical positioning and the perceived encoder state.

Any suggestions? Fixes?

[ycheng517]

@AravindRemesh this seems to be an issue of the physical build of the robot arm. AR4 is more a hobby grade robot arm, rather than an industrial grade, therefore it's expected to have not great accuracy and repeatability. If the issue happens to be related to controller tracking accuracy, I do have a branch here with much better tracking https://github.com/ycheng517/ar4_ros_driver/pull/33/files , it's out of date so you'll have to rebase again the latest main branch