This is the code we developed during our master's Thesis. It is a framework for automatic operation of the 5-DOF AMV 4200H shotcrete applicator. It connects to the onboard Danfoss MC024 over CAN bus, reads the sensors, runs the forward kinematics and displays the nozzle pose in a 3D-plot. In addition to monitoring the machine pose it can:
- Create a parametric surface model from 5 knot points
- Generate a spraying pattern in accordance to selected preferences
- Map the pattern to the surface
- Calculate inverse kinematics
- Update setpoints for all joints
Consequently, it requires that the microcontroller has closed-loop control of all the joints.
The application is module-based to promote individual development of methods. Physical calculations are split into the following modules:
- Kinematics
- Surface transformation
- Pattern generator
The framework has been tested with Python 3.7 (32 and 64 bit) on Windows and requires the following modules:
- PyQt5
- matplotlib
- numpy
- python-can
- scipy
In addition, it requires drivers for CAN bus:
The application uses multiprocessing to circumvent the GIL. This can cause problems when running in a virtual environment. We recommend running in the system environment. Start the application by running: python .\main.py
MIT