Braccio - how to realign the position of the servo motors

Other Hardware Robotics
1

Hello everyone!

situation
  1. assembled braccio robot per instructions
  2. compiled testBraccio90 sketch (see code below)
  3. uploaded testBraccio90 sketch (see code below)
  4. braccio did not get positioned in the fully upright position
    4.a. It looks like there is a +10 degree offset (possibly screwed up the servo calibration during assembly --
    over-tightened screws and manually moved the servo motor.
  5. I can achieve the full upright position by adjusting the angles by +10 degrees on the corresponding motors
  6. the manual suggests to: "realign the position of the servo motors" if the braccio does not achieve the
    fully upright position (with the non-modified parameters to the Braccio::ServoMovement() function)
question
  1. how do I realign the position of the servo motors?
  2. does the braccio need to be dis-assembled in order to realign the servo motors?

** SUPPORTING INFORMATION **

equipment
  1. servo motors: SR 311 x 2 ;; SR 431 x 4
  2. power supply: 5V, 5A x 1
  3. arduino compatible shield
  4. standard parts shipped per manufacturer
code

#include <Braccio.h>
#include <Servo.h>

Servo base;
Servo shoulder;
Servo elbow;
Servo wrist_ver;
Servo wrist_rot;
Servo gripper;

void setup() {
Braccio.begin();
}

void loop() {
Braccio.ServoMovement(20, 90, 90, 90, 90, 90, 73);
// Braccio.ServoMovement(20, 90, 100, 100, 90, 90, 73); // this +10 degree offset achieves the fully upright position
}

workstation set up
  1. (including for completeness. I do not think that my set up affects this particular issue since it works with
    simpler arduino projects)
  2. arch linux 5.6.14-arch1-1
  3. arduino ide 1.8.12
  4. command line compilation per aur package arduino-mk
  5. installed Braccio library from the arduino ide

++++++++++++++++++++++++++++++++++++++++++++++++++++++++

Thank you so much for your help and please let me know if there is anything that needs clarification.

Thank You!

2

When I need to adjust a servo that is off by 10 degrees, I remove screw that retains the servo arm. I remove the servo arm and reattach the servo arm positioned about 10 degrees in the desired direction. Then I reinsert the retaining screw.

3

Can you not attach a servo tester such as Servo Tester they are also handy for centering the servo prior to fitting.