Abstract-This paper presents OpenSYMORO, an opensource software package for symbolic modelling of robots. This software package is based on previous work detailed in [1]. However, the package in [1] was developed using Wolfram Mathematica and hence required Mathematica license for use. OpenSYMORO is mainly developed using the Python programming language and the source code will be publicly available. The new version provides support to model robots with flexible joints, floating base and wheeled mobile robots. This is in addition to supporting serial, tree structure and closed-loop robots. A visualisation tool to view the structure of the robot is also included.

To cite this version:Gaël Ecorchard, Reimund Neugebauer, Patrick Maurine. Elasto-geometrical modeling and calibration of redundantly actuated PKMs. Mechanism and Machine Theory, Elsevier, 2010, 45 (5) AbstractRedundantly actuated Parallel Kinematic Machines (PKMs) offer a number of advantages compared to classical non-redundant PKMs. Particularly, they show a better stiffness thanks to singularity avoidance and they have an improved repeatability due to a better behavior against backlashes. The main problem with the calibration of these machines is that the redundancy leads to some mechanical strains in their structure. This makes it difficult to identify the geometrical errors of their structure without taking into account the effects of the elastic deformations. The main originality of this work is to propose an efficient elasto-geometrical and calibration method that allows the identification of both the geometrical and stiffness parameters of redundantly actuated parallel mechanisms with slender links. The first part of the paper explains the proposed method through its application on a simple redundant planar mechanism. The second part deals with its experimental application to the redundant Scissors Kinematic Machine.

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This paper proposes a method for human localization in the automated warehouses. As the environment is highly dynamic due to changes in the racks content as well as the position of the rack, the proposed method uses the racks as landmarks for the localization. The fixed structure of the shelves and stands of the rack is used to detect the rack itself regardless of the content. The structure is coded as the graph and the detection is performed by finding the isomorphism between the rack model and the detected structure of the environment. The relative position is obtained by solving a PnP problem. The global position of the rack is gathered from the warehouse system by reading the marker identifying the rack. Experiments show that the localization has a mean error of 15 cm and is much more robust than the localization based on the marker itself.