Domo arigato, Mr. Roboto: Calibrating Robots with Python

Abstract

Modern robotic applications often rely on offline programming to reduce process downtime. In a virtual environment, robot application specialists may program, visualize, and test their robotic application before uploading it to the real production environment, saving time and costs. However, to achieve a high level of fidelity between virtual and production environments, the robot system must be accurate.

Unfortunately, even though most industrial robots are inherently precise (i.e., repeatable), they are not necessarily very accurate. One cost-effective approach to obtaining a more accurate robot is through calibration, where the actual kinematic and non-kinematic parameters of the robot model are identified and improved upon when compared to the nominal model. This talk introduces pybotics, an open-source Python toolbox for robot kinematics and calibration. The talk will feature the following topics:

  • An introduction to modern industrial robotics
  • Spatial descriptions and transformations
  • Robot kinematics
  • Robot calibration with pybotics + NumPy + SciPy

Date
Nov 19, 2017 12:00 AM
Location
Université du Québec à Montréal
405 Rue Sainte-Catherine Est, Montréal, QC H2L 2C4

#pyconca2017 Montréal

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Nicholas Nadeau, Ph.D., P.Eng.
Nicholas Nadeau, Ph.D., P.Eng.
Project Director

Nicholas Nadeau is the project director at Halodi Robotics, leading their mission of bringing safe and capable humanoid robots to everyone.

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