Emio.validation

This repository contains validation tools for Emio. It compares simulation results with real-world measurements obtained from different sensors (Polhemus and camera) to validate the accuracy of the simulation model.

Note: All measurements are in millimeters (mm). This is an open-loop control system.

Validation Workflow

1. Target points are generated from a script (e.g. sphere points cloud)
2. We use the simulation to solve the inverse kinematics of Emio
3. Emio's effector moves to each target point, we wait a few moments, and take measurements from the real device
4. The measurement results are then compared:
   • Error between the targets and the simulation results
   • Error between the targets and the polhemus results
   • Error between the targets and the camera results

Repository Description

• modules/targets.py: generate targets for Emio
• modules/measurements.py: script used to generate the image data/images/plots.png
• modules/polhemusUSB.py: utils to use the Polhemus sensor device
• validation.py: simulation of Emio with inverse kinematics, the effector moves to generated target points, waits, and triggers measurements
• data/results: directory containing the collected positions

Simulation Screenshot

Results Plots