pcr_control

Fourth year undergraduate thesis

System setup

Set up physical robot

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

Set up digital environment

source venv/bin/activate 
./scripts/setup.sh

Calibrate Aurora

python scripts/calibrate_aurora.py

Once the calibration script is running:

1. Move the tracker to position (1) with the cable pointing in the positive y direction (as indicated on the table)
2. Press 'r' to take a reading. Take 10+ per position. Once you've taken measurements in position (1) press n to save the point.
3. 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.