Fourth year undergraduate thesis
Checklist:
- Ensure everything is plugged in and connections are good
- Switch on Aurora
- Ensure E-stop is in the "on" position
- Ensure the workspace (marked in green) is clear
- Begin with the end effector in the state where both arms are fully outstretched. Manually tigheten each motor to ensure the tendons are taught
- Check that all tendons are properly threaded through pulleys
source venv/bin/activate
./scripts/setup.sh
python scripts/calibrate_aurora.py
Once the calibration script is running:
- Move the tracker to position (1) with the cable pointing in the positive y direction (as indicated on the table)
- Press 'r' to take a reading. Take 10+ per position. Once you've taken measurements in position (1) press n to save the point.
- Repeat steps 1 and 2 in position (2) followed by position (3)
The transformation is saved under 'data/rotation.npy' and 'data/translation.npy'. Place the tracker in its position on the robot's end effector.