Doosan SensoPart

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Interface to use a SensoPart camera with a Doosan robot

This project is developed by HumaRobotics.

Requirements

• A Doosan robot
• A SensoPart camera

How to use

• Create a Custom Code and import the DoosanSensoPart.py file (replace .py by .txt to import in the Doosan). Don't forget to remove first lines of the code (those lines are used to test the code without a robot).

• Then, look at the examples in the "examples" folder to see how to use the DoosanSensoPart class. You can begin with the ex_basic.py (don't forget to change the extension '.py' to '.txt' before importing it into the Doosan). In this example, the trame need to be: score;posx;posy;angle. But you can adapt the trame to your project by modifying the extract_data function of DoosanSensoPart class.

Robot calibration

In order to calibrate the camera with the Doosan, please refer to chapter 8.1.5.3.1Calibration,Grilledecalibration(Robotique) page 94 of Visor_user_manual_fr.pdf.

Please look at the ex_hand_eye_calibration.py if you need to performed a robotic hand eye calibration.

Examples files

• ex_basic.py: Basic example for the communication between SensoPart camera and Doosan robot using Task Writer.

• ex_hand_eye_calibration.py: Use to perform a robotic hand eye calibration

Tests files

• test_fake_sensopart.py: Code made to simulate a SensoPart camera from a computer. You can run this script and then the DoosanSensoPart.py program in the same computer to simulate a communication.