diff --git a/docs/additional-resources.md b/docs/additional-resources.md deleted file mode 100644 index 2a97b0e..0000000 --- a/docs/additional-resources.md +++ /dev/null @@ -1,8 +0,0 @@ -# Additional Resources - -Put an [issue](https://github.com/roboticslab-uc3m/teo-developer-manual/issues/new) if you have any doubts! - -## Old and broken - -- [Excel: Drivers Check](https://docs.google.com/spreadsheets/d/1RBBhsvR1kPimETVTzeJ3UTte0rK8_h7XX5WKw2b_Egc/edit?usp=sharing) -- [Logbook](https://docs.google.com/document/d/15OwIKENh2krmtPQU3N7zuWsnvgV0hHUxeP0UGthygaI/edit?usp=sharing) diff --git a/docs/csv/bom.csv b/docs/csv/bom.csv deleted file mode 100644 index 5eaace8..0000000 --- a/docs/csv/bom.csv +++ /dev/null @@ -1,11 +0,0 @@ -Device,Brand,Model,YARP device,Desciption/Comments -EC Motor,Maxon,339282/339287/400108/402686/411815,,30/50/70 W -Motor Driver,Technosoft,iPOS 3602/3604/4808 (MX),TechnosoftIpos,3602 -> front wrist 3604 -> all except legs and trunk 4808 -> legs and trunk -Relative Encoder,CUI Inc,AMT 203-V,TechnosoftIpos, -Absolute Encoder,CUI Inc,AMT 203-V,CuiAbsolute,Uses PIC18F2580 -Force-Torque Sensor,JR3,50M31A3-125-DH,Jr3,50M31A3-125-DH -> wrist ((( unknown ))) -> ankle -Inertial Sensor,XSENS,MTi-28A53G35,xsensmtx,Product ID: MTi-28A53G35 Device ID: 00305355 -RGBD Sensor,ASUS,XtionPRO Live,OpenNI2Server,RGB and Depth Sensor -RGB Camera,Point Grey,Flea3 FL3-U3-88S2C-C,AravisGigE,USB3 -Fetch Hand,Lacquey,Fetch Hand,LacqueyFetch,Three finger underactuated -CAN board,PEAK-System,PCAN-M.2,CanBusPeak,Four channels diff --git a/docs/csv/deprecated/dh-transformations.csv b/docs/csv/deprecated/dh-transformations.csv deleted file mode 100644 index 62cf22d..0000000 --- a/docs/csv/deprecated/dh-transformations.csv +++ /dev/null @@ -1,4 +0,0 @@ -Name,Transformation -H_hip_neck,RotX(90) -H_hip_leftArm,TrasZ(l5) * RotZ(-90) * TrasX(l1) -H_hip_rightArm,TrasZ(-l5) * RotZ(-90) * TrasX(l1) diff --git a/docs/csv/deprecated/dh-trunk.csv b/docs/csv/deprecated/dh-trunk.csv deleted file mode 100644 index 1005e45..0000000 --- a/docs/csv/deprecated/dh-trunk.csv +++ /dev/null @@ -1,3 +0,0 @@ -Link,θ,D,A,α -1,q13,l0,0,-90 -2,q14,0,0,0 diff --git a/docs/csv/dh-fetch.csv b/docs/csv/dh-fetch.csv deleted file mode 100644 index 1be45db..0000000 --- a/docs/csv/dh-fetch.csv +++ /dev/null @@ -1,3 +0,0 @@ -Link,θ,D,A,α -1,-90,0,0,90 -2,0,lf,0,0 diff --git a/docs/csv/dh-head-transformations.csv b/docs/csv/dh-head-transformations.csv deleted file mode 100644 index 4c18917..0000000 --- a/docs/csv/dh-head-transformations.csv +++ /dev/null @@ -1,4 +0,0 @@ -Name,Transformation -H_head_rgb,TrasZ(l3) * RotZ(-90) * RotX(-90) * TrasX(-l14) -H_head_depth,TrasZ(l3) * RotZ(-90) * RotX(-90) * TrasX(-l14-l15) -H_head_flea,TrasZ(l3+l4) * RotZ(-90) * RotX(-90) diff --git a/docs/csv/dh-head.csv b/docs/csv/dh-head.csv deleted file mode 100644 index e9d5f3b..0000000 --- a/docs/csv/dh-head.csv +++ /dev/null @@ -1,3 +0,0 @@ -Link,θ,D,A,α -1,q27,l1+l2,0,-90 -2,q28,0,0,90 diff --git a/docs/csv/dh-leftArm.csv b/docs/csv/dh-leftArm.csv deleted file mode 100644 index e41f6b3..0000000 --- a/docs/csv/dh-leftArm.csv +++ /dev/null @@ -1,7 +0,0 @@ -Link,θ,D,A,α -1,q21,0,0,-90 -2,-90+q22,0,0,-90 -3,-90+q23,-l6,0,-90 -4,q24,0,0,90 -5,q25,-l7,0,-90 -6,-90+q26,0,-l8,0 diff --git a/docs/csv/dh-leftLeg.csv b/docs/csv/dh-leftLeg.csv deleted file mode 100644 index 8520c1d..0000000 --- a/docs/csv/dh-leftLeg.csv +++ /dev/null @@ -1,7 +0,0 @@ -Link,θ,D,A,α -1,q7,0,0,90 -2,90+q8,0,0,90 -3,q9,0,-l10,0 -4,q10,-l16,-l11,0 -5,q11,0,0,-90 -6,q12,0,-l12,0 diff --git a/docs/csv/dh-rightArm.csv b/docs/csv/dh-rightArm.csv deleted file mode 100644 index ca05a53..0000000 --- a/docs/csv/dh-rightArm.csv +++ /dev/null @@ -1,7 +0,0 @@ -Link,θ,D,A,α -1,q15,0,0,-90 -2,-90+q16,0,0,-90 -3,-90+q17,-l6,0,-90 -4,q18,0,0,90 -5,q19,-l7,0,-90 -6,-90+q20,0,-l8,0 diff --git a/docs/csv/dh-rightLeg.csv b/docs/csv/dh-rightLeg.csv deleted file mode 100644 index 7af36d6..0000000 --- a/docs/csv/dh-rightLeg.csv +++ /dev/null @@ -1,7 +0,0 @@ -Link,θ,D,A,α -1,q6,0,0,90 -2,90+q5,0,0,90 -3,q4,0,-l10,0 -4,q3,l16,-l11,0 -5,q2,0,0,-90 -6,q1,0,-l12,0 diff --git a/docs/csv/dh-root-head.csv b/docs/csv/dh-root-head.csv deleted file mode 100644 index 06e6e6f..0000000 --- a/docs/csv/dh-root-head.csv +++ /dev/null @@ -1,3 +0,0 @@ -Link,θ,D,A,α -1,q13,l0,0,-90 -2,q14,0,0,90 diff --git a/docs/csv/dh-root-leftArm.csv b/docs/csv/dh-root-leftArm.csv deleted file mode 100644 index d6a0aa8..0000000 --- a/docs/csv/dh-root-leftArm.csv +++ /dev/null @@ -1,3 +0,0 @@ -Link,θ,D,A,α -1,q13,l0,0,-90 -2,-90+q14,l5,l1,0 diff --git a/docs/csv/dh-root-leftLeg.csv b/docs/csv/dh-root-leftLeg.csv deleted file mode 100644 index 57ca532..0000000 --- a/docs/csv/dh-root-leftLeg.csv +++ /dev/null @@ -1,2 +0,0 @@ -Link,θ,D,A,α -1,90,-l9,l13,0 diff --git a/docs/csv/dh-root-rightArm.csv b/docs/csv/dh-root-rightArm.csv deleted file mode 100644 index cd9eab4..0000000 --- a/docs/csv/dh-root-rightArm.csv +++ /dev/null @@ -1,3 +0,0 @@ -Link,θ,D,A,α -1,q13,l0,0,-90 -2,-90+q14,-l5,l1,0 diff --git a/docs/csv/dh-root-rightLeg.csv b/docs/csv/dh-root-rightLeg.csv deleted file mode 100644 index a89f7a0..0000000 --- a/docs/csv/dh-root-rightLeg.csv +++ /dev/null @@ -1,2 +0,0 @@ -Link,θ,D,A,α -1,90,-l9,-l13,0 diff --git a/docs/csv/dynamic_info_absolute.csv b/docs/csv/dynamic_info_absolute.csv deleted file mode 100644 index c5ef2f4..0000000 --- a/docs/csv/dynamic_info_absolute.csv +++ /dev/null @@ -1,30 +0,0 @@ -Name,CollisionLink,X(m),Y(m),Z(m),Mass(kg),Lxx(kg * m²),Lyy(kg * m²),Lzz(kg * m²),Lxy(kg * m²),Lxz(kg * m²),Lyz(kg * m²) -RootWaist,Link 0,-0.010985,0.119677,0.878198,2.5,0.038530767,0.017354343,0.053231634,-1.35E-07,0.000238121,-4.80E-10 -RightSagittalAnkle,Link 1,0.01003,0.000936,0.056105,3.1334,0.00774203,0.014781323,0.013361748,0.000455866,-0.001851657,-0.000147513 -RightFrontalAnkle,Link 2,0.002577,-0.013536,0.123232,1.50359,0.001395488,0.001589358,0.002418657,6.85E-06,1.00E-11,0 -RightFrontalKnee,Link 3,-0.006614,-0.026411,0.276637,1.94824,0.02186171,0.021411109,0.003843636,0,3.16E-06,0 -RightFrontalHip,Link 4,-0.010862,-0.026006,0.591845,1.89152,0.015077735,0.015112044,0.00747346,0,-0.000442074,0 -RightSagittalHip,Link 5,-0.000636,-0.024942,0.753399,1.45459,0.001545815,0.00119159,0.002270482,-2.97E-06,-4.07E-09,9.16E-09 -RightAxialHip,Link 6,0.000089,-0.026389,0.779065,0.84945,0.001564202,0.002645089,0.001706349,0,2.50E-06,0 -LeftAxialHip,Link 7,0.000089,0.274111,0.779065,0.84945,0.001564202,0.002645089,0.001706349,2.50E-06,0,0 -LeftSagittalHip,Link 8,-0.00011,0.273512,0.753264,1.45459,0.001545815,0.00119159,0.002270482,-2.97E-06,-4.07E-09,9.16E-09 -LeftFrontalHip,Link 9,-0.010862,0.274494,0.591845,1.89152,0.015077735,0.015112044,0.00747346,0,-0.000442074,0 -LeftFrontalKnee,Link 10,-0.006614,0.274089,0.276637,1.94824,0.02186171,0.021411109,0.003843636,0,3.16E-06,0 -LeftFrontalAnkle,Link 11,0.001999,0.288293,0.123085,1.50359,0.001392287,0.001590045,0.00241606,-1.21E-05,1.00E-11,1.00E-11 -LeftSagittalAnkle,Link 12,0.010136,0.273701,0.05615,3.1334,0.007763728,0.014591641,0.013164253,-0.000524258,-0.001424772,0.000173925 -AxialWaist,Link 13,-0.002235,0.127521,0.826236,1,0.001977587,0.000899729,0.001471749,2.06E-06,2.97E-05,-3.07E-06 -FrontalWaist,Link 14,0.032985,0.120624,1.258917,14.23545,0.33566514,0.126531585,0.263359225,0.000162127,0.011858221,0.000914091 -RightFrontalShoulder,Link 15,-0.002267,-0.162234,1.351706,2,0.004226791,0.002127281,0.004093161,8.44E-05,-1.17E-05,-0.000280493 -RightSagittalShoulder,Link 16,-0.008472,-0.213483,1.315929,1,0.001610932,0.002187776,0.001173533,-6.90E-05,-0.000214886,-6.90E-05 -RightAxialShoulder,Link 17,0.000347,-0.218171,1.120712,1,0.006925108,0.006741634,0.000611796,0,0,-3.97E-05 -RightFrontalElbow,Link 18,0.000237,-0.218536,0.96335,1,0.002590029,0.00262307,0.000446024,0,0,0 -RightAxialWrist,Link 19,-0.001151,-0.217817,0.83597,0.63149,0.000701463,0.000612806,0.000326949,-1.05E-05,-1.09E-05,1.15E-05 -RightFrontalWrist,Link 20,-0.002314,-0.21835,0.702695,1.17,0.005329957,0.005345282,0.000883179,1.02E-07,0.000114751,-0.00000807 -LeftFrontalShoulder,Link 21,-0.002272,0.419256,1.351415,2,0.004226791,0.00212734,0.00409322,-8.55E-05,-1.17E-05,0.000280493 -LeftSagittalShoulder,Link 22,-0.008047,0.470594,1.315631,1,0.001610921,0.002187768,0.001173531,6.90E-05,-0.000214885,-0.000163004 -LeftAxialShoulder,Link 23,-0.000172,0.475665,1.113979,1,0.006925108,0.006741634,0.000611796,0,0,3.97E-05 -LeftFrontalElbow,Link 24,0.000287,0.47538,0.960145,1,0.002590029,0.00262307,0.000446024,0,0,0 -LeftAxialWrist,Link 25,-0.001151,0.476023,0.83597,0.63149,0.000701463,0.000612806,0.000326949,-1.05E-05,-1.09E-05,1.15E-05 -LeftFrontalWrist,Link 26,-0.002314,0.47549,0.702695,1.17,0.005330647,0.005345282,0.000882489,1.28E-07,0.000100487,-8.07E-06 -AxialNeck,Link 27,0.000302,0.128693,1.46055,1,0.000939063,0.000939063,0.000528125,0,0,0 -FrontalNeck,Link 28,-0.002729,0.128414,1.572777,2,0.007599322,0.008325273,0.011403464,5.83E-09,6.58E-05,-7.43E-09 diff --git a/docs/csv/dynamic_info_relative.csv b/docs/csv/dynamic_info_relative.csv deleted file mode 100644 index 5b310f2..0000000 --- a/docs/csv/dynamic_info_relative.csv +++ /dev/null @@ -1,30 +0,0 @@ -Name,CollisionLink,X(m),Y(m),Z(m),Mass(kg),Lxx(kg * m2),Lyy(kg * m2),Lzz(kg * m2),Lxy(kg * m2),Lxz(kg * m2),Lyz(kg * m2) -RootWaist,Link 0,-0.010985,-0.000323,0.033148,2.5,0.038530767,0.017354343,0.053231634,-0.000000135,0.000238121,-4.8E-10 -RightSagittalAnkle,Link 1,0.01003,0.000936,-0.0669,3.1334,0.00774203,0.014781323,0.013361748,0.000455866,-0.001851657,-0.000147513 -RightFrontalAnkle,Link 2,0.002577,-0.013536,0.000182,1.50359,0.001395488,0.001589358,0.002418657,0.00000685,1E-11,0 -RightFrontalKnee,Link 3,-0.006614,-0.000411,-0.146413,1.94824,0.02186171,0.021411109,0.003843636,0,0.00000316,0 -RightFrontalHip,Link 4,-0.010862,-0.000006,-0.161205,1.89152,0.015077735,0.015112044,0.00747346,0,-0.000442074,0 -RightSagittalHip,Link 5,-0.000636,0.001058,0.000349,1.45459,0.001545815,0.00119159,0.002270482,-0.00000297,-4.07E-09,9.16E-09 -RightAxialHip,Link 6,0.000089,-0.000389,-0.065985,0.84945,0.001564202,0.002645089,0.001706349,0,0.0000025,0 -LeftAxialHip,Link 7,0.000089,-0.000389,-0.065985,0.84945,0.001564202,0.002645089,0.001706349,0.0000025,0,0 -LeftSagittalHip,Link 8,-0.00011,-0.000988,0.000214,1.45459,0.001545815,0.00119159,0.002270482,-0.00000297,-4.07E-09,9.16E-09 -LeftFrontalHip,Link 9,-0.010862,-0.000006,-0.161205,1.89152,0.015077735,0.015112044,0.00747346,0,-0.000442074,0 -LeftFrontalKnee,Link 10,-0.006614,-0.000411,-0.146413,1.94824,0.02186171,0.021411109,0.003843636,0,0.00000316,0 -LeftFrontalAnkle,Link 11,0.001999,0.013793,0.000035,1.50359,0.001392287,0.001590045,0.00241606,-0.0000121,1E-11,1E-11 -LeftSagittalAnkle,Link 12,0.010136,-0.000799,-0.0669,3.1334,0.007763728,0.014591641,0.013164253,-0.000524258,-0.001424772,0.000173925 -AxialWaist,Link 13,-0.002235,-0.000979,-0.018814,1,0.001977587,0.000899729,0.001471749,0.00000206,0.0000297,-0.00000307 -FrontalWaist,Link 14,0.032985,-0.007876,0.220667,14.23545,0.33566514,0.126531585,0.263359225,0.000162127,0.011858221,0.000914091 -RightFrontalShoulder,Link 15,-0.002267,-0.056164,0.008456,2,0.004226791,0.002127281,0.004093161,0.0000844,-0.0000117,-0.000280493 -RightSagittalShoulder,Link 16,-0.008472,-0.004826,-0.027321,1,0.001610932,0.002187776,0.001173533,-0.000069,-0.000214886,-0.000069 -RightAxialShoulder,Link 17,0.000347,0.000245,0.107382,1,0.006925108,0.006741634,0.000611796,0,0,-0.0000397 -RightFrontalElbow,Link 18,0.000237,-0.00004,-0.04998,1,0.002590029,0.00262307,0.000446024,0,0,0 -RightAxialWrist,Link 19,-0.001151,0.000603,0.02464,0.63149,0.000701463,0.000612806,0.000326949,-0.0000105,-0.0000109,0.0000115 -RightFrontalWrist,Link 20,-0.002314,0.00007,-0.108635,1.17,0.005329957,0.005345282,0.000883179,0.000000102,0.000114751,-0.00000807 -LeftFrontalShoulder,Link 21,-0.002272,0.056186,0.008165,2,0.004226791,0.00212734,0.00409322,-0.0000855,-0.0000117,0.000280493 -LeftSagittalShoulder,Link 22,-0.008047,0.004937,-0.027619,1,0.001610921,0.002187768,0.001173531,0.000069,-0.000214885,-0.000163004 -LeftAxialShoulder,Link 23,-0.000172,0.000249,0.100649,1,0.006925108,0.006741634,0.000611796,0,0,0.0000397 -LeftFrontalElbow,Link 24,0.000287,-0.000116,-0.053185,1,0.002590029,0.00262307,0.000446024,0,0,0 -LeftAxialWrist,Link 25,-0.001151,0.000603,0.02464,0.63149,0.000701463,0.000612806,0.000326949,-0.0000105,-0.0000109,0.0000115 -LeftFrontalWrist,Link 26,-0.002314,0.00007,-0.108635,1.17,0.005330647,0.005345282,0.000882489,0.000000128,0.000100487,-0.00000807 -AxialNeck,Link 27,0.000302,0.000193,-0.0452,1,0.000939063,0.000939063,0.000528125,0,0,0 -FrontalNeck,Link 28,-0.002729,-0.000086,0.067027,2,0.007599322,0.008325273,0.011403464,5.83E-09,0.0000658,-7.43E-09 diff --git a/docs/csv/editable/motores.ods b/docs/csv/editable/motores.ods deleted file mode 100644 index e7e4ec6..0000000 Binary files a/docs/csv/editable/motores.ods and /dev/null differ diff --git a/docs/csv/lengths.csv b/docs/csv/lengths.csv deleted file mode 100644 index d29df75..0000000 --- a/docs/csv/lengths.csv +++ /dev/null @@ -1,19 +0,0 @@ -lengths,distance [mm] -l0,193.2 -l1,305 -l2,162.5 -l3,59.742 -l4,37.508 -l5,346.92 -l6,329.01 -l7,215 -l8,90 -l9,92 -l10,330 -l11,300 -l12,123.005 -l13,146 -l14,18 -l15,26 -l16,17.5 -lf,97.5 diff --git a/docs/csv/motores-motores.csv b/docs/csv/motores-motores.csv deleted file mode 100644 index c15a6a4..0000000 --- a/docs/csv/motores-motores.csv +++ /dev/null @@ -1,29 +0,0 @@ -Joint,Label,CAN Bus,CAN ID,YARP Port,YARP ID,MOTOR,R. total,Hard. Limit Min (degrees),Hard. Limit Max (degrees),Soft. Limit Min (degrees) ,Soft. Limit Max (degrees) ,Human-inspired Min Limit (degrees),Human-inspired Max Limit (degrees) -SagittalRightAnkle,SRA1,Locomotion /dev/can0,1,/teo/rightLeg,5,402686,235.2,-24.956062,47.521973,-19.9,42.5,-5,5.0 -FrontalRightAnkle,FRA2,Locomotion /dev/can0,2,/teo/rightLeg,4,411815,270.4,-28.119507,30.386658,-23.1,25.4,-20,25.4 -FrontalRightKnee,FRK3,Locomotion /dev/can0,3,/teo/rightLeg,3,402686,235.2,-66.326904,87.434097,-61.3,82.4,0,82.4 -FrontalRightHip,FRH4,Locomotion /dev/can0,4,/teo/rightLeg,2,402686,192,-36.625671,47.275921,-31.6,42.3,-31.6,30 -SagittalRightHip,SRH5,Locomotion /dev/can0,5,/teo/rightLeg,1,402686,523.2,-19.244287,17.486818,-14.2,12.5,-14.2,12.5 -AxialRightHip,ARH6,Locomotion /dev/can0,6,/teo/rightLeg,0,339287,400,-37.785587,32.934967,-32.8,27.9,-32.8,27.9 -FrontalTrunk,FT14,Locomotion /dev/can0,14,/teo/trunk,1,339287,480,-95.412994,15.114234,-90.4,10.1,-90.4,10.1 -AxialTrunk,AT13,Locomotion /dev/can1,13,/teo/trunk,0,411815,160,-51.318099,51.318099,-59.3,46.3,-30,30.0 -AxialLeftHip,ALH7,Locomotion /dev/can1,7,/teo/leftLeg,0,339287,400,-32.934967,37.785587,-27.9,32.8,-27.9,32.8 -SagittalLeftHip,SLH8,Locomotion /dev/can1,8,/teo/leftLeg,1,402686,523.2,-17.486818,19.244287,-12.5,14.2,-12.5,14.2 -FrontalLeftHip,FLH9,Locomotion /dev/can1,9,/teo/leftLeg,2,411815,192,-36.625671,47.275921,-31.6,42.3,-31.6,30.0 -FrontalLeftKnee,FLK10,Locomotion /dev/can1,10,/teo/leftLeg,3,402686,235.2,-66.326904,87.434097,-61.3,82.4,0,82.4 -FrontalLeftAnkle,FLA11,Locomotion /dev/can1,11,/teo/leftLeg,4,402686,270.4,-28.119507,30.386658,-23.1,25.4,-20,25.4 -SagittalLeftAnkle,SLA12,Locomotion /dev/can1,12,/teo/leftLeg,5,402686,235.2,-47.521973,24.956062,-42.5,19.9,-5,5.0 -FrontalRightShoulder,FRS15,Manipulation /dev/can2,15,/teo/rightArm,0,411815,160,-103.07556,110.966614,-98.1,106,-98.1,45.0 -SagittalRightShoulder,SRS16,Manipulation /dev/can2,16,/teo/rightArm,1,411815,160,-80.474518,27.416519,-75.5,22.4,-75.5,22.4 -AxialRightShoulder,ARS17,Manipulation /dev/can2,17,/teo/rightArm,2,608141,120,-85.149384,62.021088,-80.1,57,-40,55.0 -FrontalRightElbow,FRE18,Manipulation /dev/can2,18,/teo/rightArm,3,411815,160,-104.56942,103.409485,-99.6,98.4,-99.6,5.0 -AxialRightWrist,ARW19,Manipulation /dev/can2,19,/teo/rightArm,4,400108,120,-85.413002,104.63972,-80.4,99.6,-80.4,90 -FrontalRightWrist,FRW20,Manipulation /dev/can2,20,/teo/rightArm,5,339282,120,-120.123024,49.718811,-115.1,44.7,-70,44.7 -FrontalNeck,FN28,Manipulation /dev/can2,28,/teo/head,1,,,,,-10,10,, -AxialNeck,AN27,Manipulation /dev/can3,27,/teo/head,0,,,,,-60,60,, -FrontalLeftShoulder,FLS21,Manipulation /dev/can3,21,/teo/leftArm,0,411815,160,-101.827759,118.189804,-96.8,113.2,-96.8,45.0 -SagittalLeftShoulder,SLS22,Manipulation /dev/can3,22,/teo/leftArm,1,411815,160,-28.892792,81.458702,-23.9,76.5,-23.9,76.5 -AxialLeftShoulder,ALS23,Manipulation /dev/can3,23,/teo/leftArm,2,400108,120,-56.590508,89.086121,-51.6,84.1,-51.6,40.0 -FrontalLeftElbow,FLE24,Manipulation /dev/can3,24,/teo/leftArm,3,339282,160,-106.13357,101.845345,-101.1,96.8,-101.1,5.0 -AxialLeftWrist,ALW25,Manipulation /dev/can3,25,/teo/leftArm,4,339282,120,-106.32688,81.441132,-101.3,76.4,-90,76.4 -FrontalLeftWrist,FLW26,Manipulation /dev/can3,26,/teo/leftArm,5,339282,120,-118.260101,66.34446,-113.3,61.3,-70,61.3 diff --git a/docs/csv/motores-protecciones-brazos.csv b/docs/csv/motores-protecciones-brazos.csv deleted file mode 100644 index c031bed..0000000 --- a/docs/csv/motores-protecciones-brazos.csv +++ /dev/null @@ -1,27 +0,0 @@ -,,Hombro Frontal,Hombro Sagital,Hombro Axial,Codo Frontal,Muñeca Axial,Muñeca Frontal -,,,,,,, -Ref Motor,,339282,339282,339282,339282,339282,339282 -driver,,iPOS3604,iPOS3604,iPOS3604,iPOS3604,iPOS3602,iPOS3604 -,,,,,,, -Corriente Nominal (A),Inom,0.849,0.849,0.849,0.849,0.849,0.849 -Temperatura Max del bobinado (ºC),Tmax,125,125,125,125,125,125 -Temperatura final del bobinado (ºC),"Tw,∞",100,100,80,100,80,100 -Corriente Max de trabajo (A),Ipeak,5.38,5.38,5.38,5.38,3.20,5.38 -Resistencia termica bobinado (K/W),Rth1,3.96,3.96,3.96,3.96,3.96,3.96 -Resistencia termica carcasa (K/W),Rth2,5.70,5.70,5.70,5.70,5.70,5.70 -Constante de tiempo termica (s),τw,18.25,18.25,18.25,18.25,18.25,18.25 -Coeficiente de resistencia Cu (K-1),αCU,0.0039,0.0039,0.0039,0.0039,0.0039,0.0039 -Resistencia del motor (Ω),Rmot,6.69,6.69,6.69,6.69,6.69,6.69 -PROTECCION DE CORRIENTES DE PICO,,,,,,, -Factor de sobrecarga,K,8.1145,8.1145,6.0482,8.1145,3.5975,8.1145 -Tiempo de Corte de sobrecarga (s),ton,0.2793,0.2793,0.5059,0.2793,1.4679,0.2793 -PROTECCION DE CORRIENTES DE i2t,,,,,,, -Perdidas por efecto Joule (W),PJ,7.7640,7.7640,5.6936,7.7640,5.6936,7.7640 -"Resistencia del bobinado a Tw,∞(Ω)",RTW,8.6468,8.6468,8.1250,8.6468,8.1250,8.6468 -Corriente I2t (A),II2t,0.9476,0.9476,0.8371,0.9476,0.8371,0.9476 -Tiempo de Corte de I2t (s),t,25.3053,25.3053,14.5759,25.3053,14.5759,25.3053 -,,,,,,, -Motor,Tensión (V),Peso (Gr),Par max (Nm),Par RMS (Nm),I max (A),I RMS (A),Vel. Nom (rpm) -Flat Brushless EC 45 30W (339282),36,110,0.337,0.0666,5.38,0.849,4760 -Driver,,,,,,, -iPOS3604MX-CAN,36,",,,",",,,",",,,","10 (2,5s)",4,",,," diff --git a/docs/csv/motores-protecciones-piernas.csv b/docs/csv/motores-protecciones-piernas.csv deleted file mode 100644 index fe346a5..0000000 --- a/docs/csv/motores-protecciones-piernas.csv +++ /dev/null @@ -1,56 +0,0 @@ -,,Tobillo Sagital,Tobillo Frontal,Rodilla,Cadera Frontal,Cadera Sagital,Cadera Axial -Torques RMS Articulación (Nm),,18.71,25.15,26.72,10.22,53.39,3.20 -Torques Max Articulación (Nm),,49.70,59.43,61.86,25.99,84.41,7.24 -,,,,,,, -Relación de Red. Poleas,,1.47,1.69,1.47,1.2,3.27,2.5 -Torques Constant (mNm/A),,33.5,53.3,53.3,53.3,101,101 -,,,,,,, -Torques RMS Motor (Nm),,0.0796,0.0930,0.1136,0.0533,0.1020,0.0080 -Torques Max Motor (Nm),,0.2113,0.2198,0.2630,0.1354,0.1613,0.0181 -,,,,,,, -Velocidad Eje Max,,24.9040,8.1382,32.9043,30.1766,4.2060,0.0000 -Velocidad Motor Max,,5857.4200,2200.5700,7739.1000,5793.9000,2200.5700,0.0000 -,,,,,,, -Currents RMS Motor (A),,2.3748,1.7451,2.1317,0.9991,1.0104,0.0793 -Currents Max Motor (A),,6.3078,4.1235,4.9344,2.5402,1.5974,0.1792 -,,,,,,, -Ref Motor,,251601,402686,402686,402686,339287,339287 -driver,,iPOS3604,iPOS3604,iPOS3604,iPOS3604,iPOS3602,iPOS3604 -,,,,,,, -Corriente Nominal (A),Inom,2.360,1.930,1.930,1.930,0.861,0.861 -Temperatura Max del bobinado (ºC),Tmax,125,125,125,125,125,125 -Temperatura final del bobinado (ºC),"Tw,∞",100,100,100,100,100,100 -Corriente Max de trabajo (A),Ipeak,20.00,20.00,20.00,20.00,4.86,4.86 -Resistencia termica bobinado (K/W),Rth1,4.50,4.22,4.22,4.22,4.50,4.50 -Resistencia termica carcasa (K/W),Rth2,4.25,3.25,3.25,3.25,4.25,4.25 -Constante de tiempo termica (s),τw,26.35,48.25,48.25,48.25,26.35,26.35 -Coeficiente de resistencia Cu (K-1),αCU,0.0039,0.0039,0.0039,0.0039,0.0039,0.0039 -Resistencia del motor (Ω),Rmot,0.978,1.74,1.74,1.74,7.41,7.41 -,,,,,,, -,,,,,,, -,,,,,,, -PROTECCION DE CORRIENTES DE PICO,,,,,,, -Factor de sobrecarga,K,12.1549,15.5775,15.5775,15.5775,8.0959,8.0959 -Tiempo de Corte de sobrecarga (s),ton,0.1790,0.1993,0.1993,0.1993,0.4051,0.4051 -Corriente Max de trabajo (A),Ipeak,20.00,20.00,20.00,20.00,4.86,4.86 -PROTECCION DE CORRIENTES DE i2t,,,,,,, -Perdidas por efecto Joule (W),PJ,8.5714,10.0402,10.0402,10.0402,8.5714,8.5714 -"Resistencia del bobinado a Tw,∞(Ω)",RTW,1.2641,2.2490,2.2490,2.2490,9.5774,9.5774 -Corriente I2t (A),II2t,2.6040,2.1129,2.1129,2.1129,0.9460,0.9460 -Tiempo de Corte de I2t (s),t,36.5277,66.8941,66.8941,66.8941,36.5277,36.5277 -,,,,,,, -Superficie de I2t (A2/s),SI2t,247.6890,298.6405,298.6405,298.6405,32.6909,32.6909 -Tiempo de Corte de I2t fijado (s),t - nuevo,15.0000,15.0000,15.0000,15.0000,15.0000,15.0000 -Corriente I2t (A),II2t- nuevo,4.0636,4.4620,4.4620,4.4620,1.4763,1.4763 -,,,,,,, -,,,,,,, -,,,,,,, -Motor,Tensión (V),Peso (Gr),Par max (Nm),Par RMS (Nm),I max (A),I RMS (A),Vel. Nom (rpm) -,,,,,,, -Flat Brushless EC 45 50W (339287),36,110,0.488,0.0943,4.86,0.861,3360 -Flat Brushless EC 45 50W (251601),24,110,0.822,0.0843,24.5,2.36,6700 -Flat Brushless EC 45 70W (402686),36,141,1,0.108,20.7,1.93,6330 -Flat Brushless EC 45 30W (339282),36,110,0.337,0.0666,5.38,0.849,4760 -Driver,,,,,,, -iPOS3604MX-CAN,36,",,,",",,,",",,,","10 (2,5s)",4,",,," -iPOS4808MX-CAN,50,",,,",",,,",",,,","20 (2,5s)",8,",,," diff --git a/docs/csv/motores-transmision.csv b/docs/csv/motores-transmision.csv deleted file mode 100644 index 9b1c608..0000000 --- a/docs/csv/motores-transmision.csv +++ /dev/null @@ -1,16 +0,0 @@ -,,,,,,,, -Articulación,Motor,Polea Entrada,Correa,Polea Salida,Dist. Entre Ejes,reductora,Relación,R. total -Tobillo Sagital,251601,Optibelt ZRS 30-3M-6,OMEGA 255-3M 3,Optibelt ZRS 44-3M-6,90 mm,160,1.47,235.2 -Tobillo Frontal,402686,Optibelt ZRS 26-3M-6,OMEGA 402-3M 3,Optibelt ZRS 44-3M-6,147'2 mm,160,1.69,270.4 -Rodilla,402686,Optibelt ZRS 30-3M-6,OMEGA 276-3M 3,Optibelt ZRS 44-3M-6,83'9 mm,160,1.47,235.2 -Cadera Frontal,402686,Optibelt ZRS 30-3M-6,OMEGA 357-3M 3,Optibelt ZRS 36-3M-6,127 mm,160,1.2,192 -Cadera Sagital,339287,Optibelt ZRS 22-3M-6,OMEGA 312-3M 3,Optibelt ZRS 72-3M-6,82 mm,160,3.27,523.2 -Cadera Axial,339287,Optibelt ZRS 24-3M-6,OMEGA 225-3M 6,Optibelt ZRS 60-3M-6,????,160,2.5,400 -Cintura Frontal,251601,Optibelt ZRS 10-3M-9,OMEGA 231-3M 9,Optibelt ZRS 30-3M-9,????,160,3,480 -Cintura Axial,251601,-----,-----,-----,-----,160,-----,160 -Hombro Frontal,339282,-----,-----,-----,-----,160,-----,160 -Hombro Sagital,339282,-----,-----,-----,-----,160,-----,160 -Hombro Axial,339282,-----,-----,-----,-----,120,-----,120 -Codo Frontal,339282,-----,-----,-----,-----,160,-----,160 -Muñeca Axial,339282,-----,-----,-----,-----,120,-----,120 -Muñeca Frontal,339282,-----,-----,-----,-----,120,-----,120 diff --git a/docs/csv/soft-gripper-current-configuration.csv b/docs/csv/soft-gripper-current-configuration.csv new file mode 100644 index 0000000..47772d3 --- /dev/null +++ b/docs/csv/soft-gripper-current-configuration.csv @@ -0,0 +1,10 @@ +Motor,Passband(current controller),Passband(position controller),Intertia(kgm2 E-7) +ID1,2200,150,100 +ID2,2000,150,100 +ID3,,, +ID4,2000,150,100 +ID5,2200,150,100 +ID6,2000,, +ID7,2200,120,60 +ID8,2200,150,100 +ID9,,, diff --git a/docs/csv/soft-gripper-motor-C.csv b/docs/csv/soft-gripper-motor-C.csv new file mode 100644 index 0000000..c12b5e8 --- /dev/null +++ b/docs/csv/soft-gripper-motor-C.csv @@ -0,0 +1,13 @@ +Terminal resistance phase to phase,6.42 Ω +Terminal inductance phase to phase,2.75 mH +Torque constant,30.5 mNm/A +Speed constant,135 rpm/V +Speed / torque gradient,12.9 rpm/mNm +Mechanical time constant,20.2 ms +Rotor inertia,150 gcm² +Thermal resistance housing-ambient,6.73 K/W +Thermal resistance winding-housing,3.92 K/W +Thermal time constant winding,11.4 s +Thermal time constant motor,296 s +Ambient temperature,-40...+100 °C +Max. winding temperature,+125 °C diff --git a/docs/csv/soft-gripper-motor-MD.csv b/docs/csv/soft-gripper-motor-MD.csv new file mode 100644 index 0000000..fcd7dae --- /dev/null +++ b/docs/csv/soft-gripper-motor-MD.csv @@ -0,0 +1,12 @@ +Bearing type,keine +Max. speed,10000 rpm +Axial play,0 mm; at radial load < 0 N +-,0 mm; at radial load > 0 N +Max. axial load (dynamic),0 N +Max. force for press fits (static),0 N +(static; shaft supported),0 N +Max. radial load,0 N; 5 mm from flange +Number of pole pairs,8 +Number of phases,3 +Number of autoclave cycles,0 +Weight,89 g diff --git a/docs/csv/soft-gripper-motor-NV.csv b/docs/csv/soft-gripper-motor-NV.csv new file mode 100644 index 0000000..5082188 --- /dev/null +++ b/docs/csv/soft-gripper-motor-NV.csv @@ -0,0 +1,9 @@ +Nominal voltage,24 V +No load speed,7310 rpm +No load current,47.6 mA +Nominal speed,4390 rpm +Nominal torque (max. continuous torque),27 mNm +Nominal current (max. continuous current),0.766 A +Stall torque,114 mNm +Stall current,3.74 A +Max. efficiency,79 % diff --git a/docs/csv/teo-center-of-masses.csv b/docs/csv/teo-center-of-masses.csv deleted file mode 100644 index ed92741..0000000 --- a/docs/csv/teo-center-of-masses.csv +++ /dev/null @@ -1,30 +0,0 @@ -Name,CollisionLink,X(mm),Y(mm),Z(mm),Mass(g) -RootWaist,Link 0,-10.985,-0.323,33.148,2500 -AxialWaist,Link 1,-2.235,-0.979,-18.814,1000 -FrontalWaist,Link 2,32.985,-7.876,220.667,14235.45 -AxialNeck,Link 3,0.302,0.193,-45.2,1000 -FrontalNeck,Link 4,-2.729,-0.086,67.027,2000 -RightFrontalShoulder,Link 5,-2.267,-56.164,8.456,2000 -RightSagittalShoulder,Link 6,-8.472,-4.826,-27.321,1000 -RightAxialShoulder,Link 7,0.347,0.245,107.382,1000 -RightFrontalElbow,Link 8,0.237,-0.04,-49.98,1000 -RightAxialWrist,Link 9,-1.151,0.603,24.64,631.49 -RightFrontalWrist,Link 10,-2.314,0.07,-108.635,1170 -LeftFrontalShoulder,Link 11,-2.272,56.186,8.165,2000 - LeftSagittalShoulder,Link 12,-8.047,4.937,-27.619,1000 - LeftAxialShoulder,Link 13,-0.172,0.249,100.649,1000 - LeftFrontalElbow,Link 14,0.287,-0.116,-53.185,1000 - LeftAxialWrist,Link 15,-1.151,0.603,24.64,631.49 - LeftFrontalWrist,Link 16,-2.314,0.07,-108.635,1170 -RightAxialHip,Link 17,0.089,-0.389,-65.985,849.45 - RightSagittalHip,Link 18,-0.636,1.058,0.349,1454.59 - RightFrontalHip,Link 19,-10.862,-0.006,-161.205,1891.52 - RightFrontalKnee,Link 20,-6.614,-0.411,-146.413,1948.24 - RightFrontalAnkle,Link 21,2.577,-13.536,0.182,1503.59 - RightSagittalAnkle,Link 22,10.03,0.936,-66.9,3133.4 -LeftAxialHip,Link 23,0.089,-0.389,-65.985,849.45 - LeftSagittalHip,Link 24,-0.11,-0.988,0.214,1454.59 - LeftFrontalHip,Link 25,-10.862,-0.006,-161.205,1891.52 - LeftFrontalKnee,Link 26,-6.614,-0.411,-146.413,1948.24 - LeftFrontalAnkle,Link 27,1.999,13.793,0.035,1503.59 - LeftSagittalAnkle,Link 28,10.136,-0.799,-66.9,3133.4 diff --git a/docs/dynamic-information.md b/docs/dynamic-information.md deleted file mode 100644 index a0edf9b..0000000 --- a/docs/dynamic-information.md +++ /dev/null @@ -1,756 +0,0 @@ -# Dynamic Information - -TEO global dynamic information. - -This file contains the center of mass of the whole robot in the initial home position. For individual CoM information go here: . - -All the information presented here was calculated using SolidWorks and tuned to the real robot. - -Mass = 55900.00 g - -Volume = 48633056.11 mm³ - -Center of mass: ( millimeters ) - - X = 8.67 - - Y = -0.03 - - Z = 14.06 - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.02, 0.00, 1.00) Px = 2282209291.83 - - Iy = ( 0.00, -1.00, 0.00) Py = 13043664521.24 - - Iz = ( 1.00, 0.00, -0.02) Pz = 15102428756.37 - - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 15098875242.10 Lxy = -827254.57 Lxz = 213401208.45 - - Lyx = -827254.57 Lyy = 13043664787.39 Lyz = -762897.83 - - Lzx = 213401208.45 Lzy = -762897.83 Lzz = 2285762539.95 - ---- - -## HEAD - -### AxialNeck - -Mass = 1000.00 g - -Volume = 298647.65 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.00, 0.00, 1.00) Px = 528125.00 - - Iy = ( 0.00, -1.00, 0.00) Py = 939062.50 - - Iz = ( 1.00, 0.00, 0.00) Pz = 939062.50 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 939062.50 Lxy = 0.00 Lxz = 0.00 - - Lyx = 0.00 Lyy = 939062.50 Lyz = 0.00 - - Lzx = 0.00 Lzy = 0.00 Lzz = 528125.00 - -### FrontalNeck - -Mass = 2000.00 g - -Volume = 3869318.16 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) Taken at the center of mass. - - Ix = ( 1.00, 0.00, 0.02) Px = 7598184.97 - - Iy = ( 0.00, 1.00, 0.00) Py = 8325272.78 - - Iz = (-0.02, 0.00, 1.00) Pz = 11404600.84 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 7599321.84 Lxy = 5.83 Lxz = 65773.25 - - Lyx = 5.83 Lyy = 8325272.78 Lyz = -7.43 - - Lzx = 65773.25 Lzy = -7.43 Lzz = 11403463.96 - -## TRUNK - -### FrontalWaist - -Mass = 14235.45 g - -Volume = 14791096.67 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.00, -1.00, -0.01) Px = 126525199.05 - - Iy = (-0.16, 0.01, -0.99) Py = 261470522.58 - - Iz = ( 0.99, 0.00, -0.16) Pz = 337560229.11 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 335665140.35 Lxy = 162126.65 Lxz = 11858220.70 - - Lyx = 162126.65 Lyy = 126531585.32 Lyz = 914091.01 - - Lzx = 11858220.70 Lzy = 914091.01 Lzz = 263359225.06 - -### AxialWaist - -Mass = 1000.00 g - -Volume = 141815.56 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.00, -1.00, 0.01) Px = 899709.63 - - Iy = (-0.06, -0.01, -1.00) Py = 1470022.93 - - Iz = ( 1.00, 0.00, -0.06) Pz = 1979333.10 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 1977587.12 Lxy = 2056.44 Lxz = 29730.11 - - Lyx = 2056.44 Lyy = 899729.49 Lyz = -3073.94 - - Lzx = 29730.11 Lzy = -3073.94 Lzz = 1471749.05 - -### RootWaist - -Mass = 2500.00 g - -Volume = 1359273.48 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.00, -1.00, 0.00) Px = 17354342.61 - - Iy = ( 1.00, 0.00, 0.02) Py = 38526911.34 - - Iz = (-0.02, 0.00, 1.00) Pz = 53235490.34 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 38530767.35 Lxy = -134.69 Lxz = 238121.10 - - Lyx = -134.69 Lyy = 17354342.61 Lyz = -0.48 - - Lzx = 238121.10 Lzy = -0.48 Lzz = 53231634.32 - -## RIGHT ARM - -### RightFrontalShoulder - -Mass = 2000.00 g - -Volume = 516104.81 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = (-0.04, -0.99, 0.14) Px = 2084655.68 - - Iy = ( 0.00, -0.14, -0.99) Py = 4132399.01 - - Iz = ( 1.00, -0.04, 0.00) Pz = 4230179.01 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 4226791.05 Lxy = 84382.30 Lxz = -11698.91 - - Lyx = 84382.30 Lyy = 2127281.33 Lyz = -280493.15 - - Lzx = -11698.91 Lzy = -280493.15 Lzz = 4093161.32 - -### RightSagittalShoulder - -Mass = 1000.00 g - -Volume = 112019.37 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = (-0.37, 0.15, 0.91) Px = 1057898.69 - - Iy = (-0.93, 0.00, -0.38) Py = 1698826.58 - - Iz = (-0.06, -0.99, 0.14) Pz = 2215515.46 - - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 1610931.66 Lxy = -69037.90 Lxz = -214886.06 - - Lyx = -69037.90 Lyy = 2187775.81 Lyz = 163005.40 - - Lzx = -214886.06 Lzy = 163005.40 Lzz = 1173533.26 - - -### RightAxialShoulder - -Mass = 1000.00 g - -Volume = 667903.29 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.00, -0.01, 1.00) Px = 611538.52 - - Iy = ( 0.00, -1.00, -0.01) Py = 6741891.13 - - Iz = ( 1.00, 0.00, 0.00) Pz = 6925108.26 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 6925108.26 Lxy = 0.00 Lxz = 0.00 - - Lyx = 0.00 Lyy = 6741634.14 Lyz = -39690.86 - - Lzx = 0.00 Lzy = -39690.86 Lzz = 611795.51 - - -### RightFrontalElbow - -Mass = 1000.00 g - -Volume = 521543.08 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.00, 0.00, 1.00) Px = 446024.47 - - Iy = (-1.00, 0.00, 0.00) Py = 2590028.58 - - Iz = ( 0.00, -1.00, 0.00) Pz = 2623069.51 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 2590028.58 Lxy = 0.00 Lxz = 0.00 - - Lyx = 0.00 Lyy = 2623069.51 Lyz = 0.00 - - Lzx = 0.00 Lzy = 0.00 Lzz = 446024.47 - - -### RightAxialWrist - -Mass = 631.49 g - -Volume = 40919.54 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = (-0.03, 0.04, 1.00) Px = 326150.78 - - Iy = ( 0.11, -0.99, 0.04) Py = 612149.05 - - Iz = ( 0.99, 0.11, 0.03) Pz = 702918.54 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 701463.31 Lxy = -10454.91 Lxz = -10855.70 - - Lyx = -10454.91 Lyy = 612806.24 Lyz = 11471.10 - - Lzx = -10855.70 Lzy = 11471.10 Lzz = 326948.83 - - - -### RightFrontalWrist - -Mass = 1170.00 g - -Volume = 759343.98 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.03, 0.00, 1.00) Px = 880205.15 - - Iy = (-1.00, -0.03, 0.03) Py = 5332908.02 - - Iz = ( 0.02, -1.00, 0.00) Pz = 5345304.27 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 5329956.56 Lxy = 101.85 Lxz = 114750.55 - - Lyx = 101.85 Lyy = 5345281.96 Lyz = -8070.00 - - Lzx = 114750.55 Lzy = -8070.00 Lzz = 883178.92 - - -## LEFT ARM - -### LeftFrontalShoulder - -Mass = 2000.00 g - -Volume = 516104.81 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.04, -0.99, -0.14) Px = 2084628.91 - - Iy = ( 0.00, 0.14, -0.99) Py = 4132456.63 - - Iz = ( 1.00, 0.04, 0.00) Pz = 4230264.79 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 4226791.05 Lxy = -85460.30 Lxz = -11670.89 - - Lyx = -85460.30 Lyy = 2127339.64 Lyz = 280493.15 - - Lzx = -11670.89 Lzy = 280493.15 Lzz = 4093219.64 - - -### LeftSagittalShoulder - -Mass (user-overridden) = 1000.00 g - -Volume = 112020.11 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = (-0.37, -0.15, 0.91) Px = 1057896.04 - - Iy = (-0.93, 0.00, -0.38) Py = 1698815.91 - - Iz = ( 0.06, -0.99, -0.14) Pz = 2215507.57 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 1610920.63 Lxy = 69037.63 Lxz = -214884.85 - - Lyx = 69037.63 Lyy = 2187768.28 Lyz = -163003.88 - - Lzx = -214884.85 Lzy = -163003.88 Lzz = 1173530.62 - -### LeftAxialShoulder - -Mass properties of selected components - -Mass = 1000.00 g - -Volume = 667903.29 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.00, 0.01, 1.00) Px = 611538.52 - - Iy = ( 0.00, -1.00, 0.01) Py = 6741891.13 - - Iz = ( 1.00, 0.00, 0.00) Pz = 6925108.26 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 6925108.26 Lxy = 0.00 Lxz = 0.00 - - Lyx = 0.00 Lyy = 6741634.14 Lyz = 39690.86 - - Lzx = 0.00 Lzy = 39690.86 Lzz = 611795.51 - -### LeftFrontalElbow - -Mass = 1000.00 g - -Volume = 521543.08 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.00, 0.00, 1.00) Px = 446024.47 - - Iy = (-1.00, 0.00, 0.00) Py = 2590028.58 - - Iz = ( 0.00, -1.00, 0.00) Pz = 2623069.51 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 2590028.58 Lxy = 0.00 Lxz = 0.00 - - Lyx = 0.00 Lyy = 2623069.51 Lyz = 0.00 - - Lzx = 0.00 Lzy = 0.00 Lzz = 446024.47 - -### LeftAxialWrist - -Mass = 631.49 g - -Volume = 40919.54 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = (-0.03, 0.04, 1.00) Px = 326150.78 - - Iy = ( 0.11, -0.99, 0.04) Py = 612149.05 - - Iz = ( 0.99, 0.11, 0.03) Pz = 702918.54 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 701463.31 Lxy = -10454.91 Lxz = -10855.70 - - Lyx = -10454.91 Lyy = 612806.24 Lyz = 11471.10 - - Lzx = -10855.70 Lzy = 11471.10 Lzz = 326948.83 - -### LeftFrontalWrist - -Mass = 1170.00 g - -Volume = 759343.98 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.02, 0.00, 1.00) Px = 880205.15 - - Iy = (-1.00, -0.03, 0.02) Py = 5332908.02 - - Iz = ( 0.02, -1.00, 0.00) Pz = 5345304.27 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 5330646.84 Lxy = 127.73 Lxz = 100487.37 - - Lyx = 127.73 Lyy = 5345281.96 Lyz = -8069.63 - - Lzx = 100487.37 Lzy = -8069.63 Lzz = 882488.65 - -## RIGHT LEG - -### RightAxialHip - -Mass = 849.45 g - -Volume = 185143.45 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 1.00, 0.00, 0.02) Px = 1564158.65 - - Iy = (-0.02, 0.00, 1.00) Py = 1706392.72 - - Iz = ( 0.00, -1.00, 0.00) Pz = 2645088.53 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 1564202.47 Lxy = 0.00 Lxz = 2496.11 - - Lyx = 0.00 Lyy = 2645088.53 Lyz = 0.00 - - Lzx = 2496.11 Lzy = 0.00 Lzz = 1706348.90 - -### RightSagittalHip - -Mass = 1454.59 g - -Volume = 357656.76 mm³ -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.01, -1.00, 0.00) Px = 1191564.94 - - Iy = ( 1.00, 0.01, 0.00) Py = 1545840.34 - - Iz = ( 0.00, 0.00, 1.00) Pz = 2270481.60 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 1545815.41 Lxy = -2971.75 Lxz = -4.07 - - Lyx = -2971.75 Lyy = 1191589.87 Lyz = 9.16 - - Lzx = -4.07 Lzy = 9.16 Lzz = 2270481.60 - -### RightFrontalHip - -Mass = 1891.52 g - -Volume = 5587643.87 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = (-0.06, 0.00, 1.00) Px = 7447846.66 - - Iy = (-1.00, 0.00, -0.06) Py = 15103348.97 - - Iz = ( 0.00, -1.00, 0.00) Pz = 15112043.87 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 15077735.36 Lxy = 0.00 Lxz = -442073.53 - - Lyx = 0.00 Lyy = 15112043.87 Lyz = 0.00 - - Lzx = -442073.53 Lzy = 0.00 Lzz = 7473460.27 - -### RightFrontalKnee - -Mass = 1948.24 g - -Volume = 4141636.01 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.00, 0.00, 1.00) Px = 3843635.20 - - Iy = ( 0.00, -1.00, 0.00) Py = 21411108.92 - - Iz = ( 1.00, 0.00, 0.00) Pz = 21861710.56 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 21861710.01 Lxy = 0.00 Lxz = 3157.06 - - Lyx = 0.00 Lyy = 21411108.92 Lyz = 0.00 - - Lzx = 3157.06 Lzy = 0.00 Lzz = 3843635.76 - -### RightFrontalAnkle - -Mass = 1503.59 g - -Volume = 364314.92 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 1.00, 0.04, 0.00) Px = 1395246.39 - - Iy = (-0.04, 1.00, 0.00) Py = 1589600.30 - - Iz = ( 0.00, 0.00, 1.00) Pz = 2418656.52 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 1395488.46 Lxy = 6854.86 Lxz = 0.01 - - Lyx = 6854.86 Lyy = 1589358.23 Lyz = 0.00 - - Lzx = 0.01 Lzy = 0.00 Lzz = 2418656.52 - -### RightSagittalAnkle - -Mass = 3133.40 g - -Volume = 836243.07 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.96, 0.06, -0.29) Px = 7156686.84 - - Iy = ( 0.29, -0.01, 0.96) Py = 13916875.64 - - Iz = ( 0.06, -1.00, -0.03) Pz = 14811538.03 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 7742029.63 Lxy = 455866.32 Lxz = -1851656.76 - - Lyx = 455866.32 Lyy = 14781323.09 Lyz = -147512.99 - - Lzx = -1851656.76 Lzy = -147512.99 Lzz = 13361747.79 - -## LEFT LEG - -### LeftAxialHip - -Mass = 849.45 g - -Volume = 185143.45 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 1.00, 0.00, 0.02) Px = 1564158.65 - - Iy = (-0.02, 0.00, 1.00) Py = 1706392.72 - - Iz = ( 0.00, -1.00, 0.00) Pz = 2645088.53 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 1564202.47 Lxy = 0.00 Lxz = 2496.11 - - Lyx = 0.00 Lyy = 2645088.53 Lyz = 0.00 - - Lzx = 2496.11 Lzy = 0.00 Lzz = 1706348.90 - -### LeftSagittalHip - -Mass = 1454.59 g - -Volume = 357656.76 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.01, -1.00, 0.00) Px = 1191564.94 - - Iy = ( 1.00, 0.01, 0.00) Py = 1545840.34 - - Iz = ( 0.00, 0.00, 1.00) Pz = 2270481.60 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 1545815.41 Lxy = -2971.75 Lxz = -4.07 - - Lyx = -2971.75 Lyy = 1191589.87 Lyz = 9.16 - - Lzx = -4.07 Lzy = 9.16 Lzz = 2270481.60 - -### LeftFrontalHip - -Mass = 1891.52 g - -Volume = 5587643.87 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = (-0.06, 0.00, 1.00) Px = 7447846.66 - - Iy = (-1.00, 0.00, -0.06) Py = 15103348.97 - - Iz = ( 0.00, -1.00, 0.00) Pz = 15112043.87 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 15077735.36 Lxy = 0.00 Lxz = -442073.53 - - Lyx = 0.00 Lyy = 15112043.87 Lyz = 0.00 - - Lzx = -442073.53 Lzy = 0.00 Lzz = 7473460.27 - -### LeftFrontalKnee - -Mass = 1948.24 g - -Volume = 4141636.01 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.00, 0.00, 1.00) Px = 3843635.20 - - Iy = ( 0.00, -1.00, 0.00) Py = 21411108.92 - - Iz = ( 1.00, 0.00, 0.00) Pz = 21861710.56 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 21861710.01 Lxy = 0.00 Lxz = 3157.06 - - Lyx = 0.00 Lyy = 21411108.92 Lyz = 0.00 - - Lzx = 3157.06 Lzy = 0.00 Lzz = 3843635.76 - -### LeftFrontalAnkle - -Mass = 1503.59 g - -Volume = 364099.32 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 1.00, -0.06, 0.00) Px = 1391550.41 - - Iy = ( 0.06, 1.00, 0.00) Py = 1590780.84 - - Iz = ( 0.00, 0.00, 1.00) Pz = 2416060.36 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 1392286.60 Lxy = -12088.37 Lxz = 0.01 - - Lyx = -12088.37 Lyy = 1590044.65 Lyz = 0.01 - - Lzx = 0.01 Lzy = 0.01 Lzz = 2416060.36 - -### LeftFrontalAnkle - -Mass = 3133.40 g - -Volume = 828418.18 mm³ - -Principal axes of inertia and principal moments of inertia: ( g * mm² ) -Taken at the center of mass. - - Ix = ( 0.97, -0.08, -0.24) Px = 7368906.11 - - Iy = ( 0.24, 0.04, 0.97) Py = 13515459.01 - - Iz = (-0.06, -1.00, 0.06) Pz = 14635257.08 - -Moments of inertia: ( g * mm² ) -Taken at the center of mass and aligned with the output coordinate system. - - Lxx = 7763728.47 Lxy = -524257.51 Lxz = -1424772.26 - - Lyx = -524257.51 Lyy = 14591640.60 Lyz = 173925.09 - - Lzx = -1424772.26 Lzy = 173925.09 Lzz = 13164253.12 diff --git a/docs/fig/blue_stick.jpg b/docs/fig/blue_stick.jpg new file mode 100644 index 0000000..88d9194 Binary files /dev/null and b/docs/fig/blue_stick.jpg differ diff --git a/docs/fig/finger_motor_sense.png b/docs/fig/finger_motor_sense.png new file mode 100644 index 0000000..8978bc0 Binary files /dev/null and b/docs/fig/finger_motor_sense.png differ diff --git a/docs/fig/gripper_top_view_with_IDs.png b/docs/fig/gripper_top_view_with_IDs.png new file mode 100644 index 0000000..389dbd0 Binary files /dev/null and b/docs/fig/gripper_top_view_with_IDs.png differ diff --git a/docs/fig/neck_labelled.png b/docs/fig/neck_labelled.png new file mode 100644 index 0000000..ffff7cd Binary files /dev/null and b/docs/fig/neck_labelled.png differ diff --git a/docs/fig/origami_gripper.png b/docs/fig/origami_gripper.png new file mode 100644 index 0000000..ac76edd Binary files /dev/null and b/docs/fig/origami_gripper.png differ diff --git a/docs/fig/origami_tower.png b/docs/fig/origami_tower.png new file mode 100644 index 0000000..c71499e Binary files /dev/null and b/docs/fig/origami_tower.png differ diff --git a/docs/fig/soft_neck.jpg b/docs/fig/soft_neck.jpg new file mode 100644 index 0000000..db3014d Binary files /dev/null and b/docs/fig/soft_neck.jpg differ diff --git a/docs/fig/yarpmanager.png b/docs/fig/yarpmanager.png new file mode 100644 index 0000000..b0d7a6b Binary files /dev/null and b/docs/fig/yarpmanager.png differ diff --git a/docs/instron/demo.md b/docs/instron/demo.md new file mode 100644 index 0000000..cf694f7 --- /dev/null +++ b/docs/instron/demo.md @@ -0,0 +1,41 @@ +# Demo: Space Navigator (Inverse Kinematcs) +### The following steps are meant to be launched on the Soft Robotics PC, next to Lisbeth :) + + +Throughout this section, the required steps to run the Space Navigator demo of the soft neck are described. + +1. Plug the spnav dongle the PC. +2. Plug the PCAN-USB adapter to the PC. +3. On a terminal, run the following command for setting up the CAN bus port: + +```bash +cd ~/Desktop && sudo ./init_can.sh +``` +This file contains the following command, which sets up the physical port at a baud rate of 1MHz: + +```bash +ip link set can0 up txqueuelen 1000 type can bitrate 1000000 restart-ms 100 +``` + +4. On a terminal, launch yarpserver through the following command: + +```bash +yarpserver --write +``` +5. Open the yarpgui for individually launching the different required applications. Press **Alt+F2** at the same time to pop up the command window and type **yarpmanager**. +6. Open **SoftNeckControl_App** inside the Applications folder and launch the following apps in the described order by clicking the green launch button after selecting said app. +7. Launch SpaceNavigator. +8. Launch launchCanBus. At this point you can turn on the Power Supply with a voltage of 16V and tense the tendons through the easiest method. This is by means of the remote procedure calls (RPC). In order for this to work, the launchCanBus application needs to be launched. The RPC commands can be accessed through the following command: + +```bash +yarp rpc /softneck/rpc:i +``` + +You can tighten and untighten the tendons with the set pos command, which gives a distance(m) value for the motor to rotate. It is suggested to use increments or decrements of 0.01 as a starting value. + +```text +set pos 0 0.01 +``` + +This will shorten the first tendon a length of 0.01m. The ID associated to each motor is shown in the following figure. + diff --git a/docs/network-information.md b/docs/network-information.md deleted file mode 100644 index 77d6d8e..0000000 --- a/docs/network-information.md +++ /dev/null @@ -1,180 +0,0 @@ -# Network Information - -## TEONET (main router) - -- wifi-ssid: TEONET -- wifi-password: teochallenge - -- External IP: 163.117.150.74 -- Internal IP: 2.2.2.1 -- IP Subnet Mask: 255.255.255.0 -- Gateway IP Address: 163.117.150.2 -- Primary DNS: 163.117.131.35 -- Configuration web: www.routerlogin.net -- user: admin -- pass: admin - -## TL-WR2543ND: router configured as switch - -- External IP: Dynamic IP -- Internal IP: 2.2.2.2 -- IP Subnet Mask: 255.255.255.0 -- user: admin -- pass: admin - -## Ubiquiti EdgeRouter X: Teo internal router as a switch - -- Internal IP: 2.2.2.10 -- IP Subnet Mask: 255.255.255.0 -- user: ubnt -- pass: ubnt - -## manipulation (left robot PC) - -Memory 16 GiB, Processor Intel(R) Core(TM) i7-10710U CPU @ 1.10GHz, Disk 111 GiB. - -- OS (dual boot): - - Partition 80Gb: Ubuntu 20.04 Focal Fossa - - Partition 20Gb: Ubuntu 16.04 Xenial - -### manipulation: pass - -- teo / teo -- su: manipulation - -### manipulation: MAC/IP - -- wlan1  5c:d9:98:9a:94:5c  2.2.2.51 -- eth0  00:18:7d:0b:2d:9d  2.2.2.61 - -### manipulation: init - -Runs `yarp server` as service using [daemontools](https://robots.uc3m.es/installation-guides/install-daemontools.html)), activated in `/etc/service/yarpserver/run` with `chmod +x` through the lines: - -```bash -#!/bin/bash -export PATH=/usr/local/bin:/usr/bin:/bin -export YARP_CONFIG_HOME=/home/teo/.config/yarp -yarp server --read -``` - -Also, runs `yarprun --server /manipulation` as service using [daemontools](https://robots.uc3m.es/installation-guides/install-daemontools.html), activated in `/etc/service/yarprun/run` with `chmod +x` through the lines: - -```bash -#!/bin/bash -export ATH=/usr/local/bin:/usr/bin:/bin -export YARP_CONFIG_HOME=/home/teo/.config/yarp -yarprun --server /manipulation -``` - -### manipulation: install - -- [GCC 7.5](https://github.com/roboticslab-uc3m/teo-hardware-issues/issues/58#issuecomment-683809599) -- [yarp-devices](https://github.com/roboticslab-uc3m/yarp-devices) -- [kinematics-dynamics](https://github.com/roboticslab-uc3m/kinematics-dynamics) -- [PCAN-M2](https://robots.uc3m.es/installation-guides/install-pcan.html) -- [JR3](https://robots.uc3m.es/installation-guides/install-jr3.html) -- CuiAbsolute: - - [VirtualBox Image with Windows 7 and MPLAB IDE v8.92](https://drive.google.com/open?id=1M8_ixoSgd8n-s4Gv71IwQD_nJKU8QcJH) -- `YARP_ROBOT_NAME=teo` -- `YARP_PORT_PREFIX=/teo` -- `YARP_COLORED_OUTPUT=1` - -## locomotion (right robot PC) - -Memory 16 GiB, Processor Intel(R) Core(TM) i5-7300U CPU @ 2.60GHz, GPU: HD Graphics 620, Disk 106 GiB. - -- OS (dual boot): - - Partition 80Gb: Ubuntu 20.04 Focal Fossa - - Partition 20Gb: Ubuntu 16.04 Xenial - -### locomotion: pass - -- teo / teo -- su: locomotion - -### locomotion: MAC/IP - -- wlan1  5c:d9:98:9a:94:5d  2.2.2.52 -- eth0  00:18:7d:0b:2d:71  2.2.2.62 - -### locomotion: init - -The execution of `yarprun --server /locomotion` is implemented as service using [daemontools](https://robots.uc3m.es/installation-guides/install-daemontools.html), activated in `/etc/service/yarprun/run` with `chmod +x` through the lines: - -```bash -#!/bin/bash   -export PATH=/usr/local/bin:/usr/bin:/bin -export YARP_CONFIG_HOME=/home/teo/.config/yarp -yarprun --server /locomotion -``` - -### locomotion: install - -- [GCC 7.5](https://github.com/roboticslab-uc3m/teo-hardware-issues/issues/58#issuecomment-683809599) -- [yarp-devices](https://github.com/roboticslab-uc3m/yarp-devices) -- [kinematics-dynamics](https://github.com/roboticslab-uc3m/kinematics-dynamics) -- [XSENS](https://robots.uc3m.es/installation-guides/install-xsens.html) -- CuiAbsolute: - - [VirtualBox Image with Windows 7: MPLAB IDE v8.92 and EasySetUp](https://drive.google.com/a/uc3m.es/folderview?id=0BxR76I90oKSmdnRhQlpsS3pXWm8&usp=sharing) -- `YARP_ROBOT_NAME=teo` -- `YARP_PORT_PREFIX=/teo` -- `YARP_COLORED_OUTPUT=1` - -## teo-head (center robot PC) - -Memory 16 GiB, Processor Intel(R) Core(TM) i5-7300U CPU @ 2.60GHz, GPU: HD Graphics 620, Disk 52 GiB. -- OS (dual boot): - - Partition 40Gb: Ubuntu 20.04 Focal Fossa - - Partition 20Gb: Ubuntu 16.04 Xenial - -### teo-head: pass - -- user: teo -- pass: teo - -### teo-head: MAC/IP - -- eth1  00:01:2e:51:9c:c1  2.2.2.53 - -### teo-head: init - -The execution of `yarprun --server /head` is implemented as service using [daemontools](https://robots.uc3m.es/installation-guides/install-daemontools.html), activated in `/etc/service/yarprun/run` with `chmod +x` through the lines: - -```bash -#!/bin/bash -export PATH=/usr/local/bin:/usr/bin:/bin -export YARP_CONFIG_HOME=/home/teo/.config/yarp -yarprun --server /head -``` - -### teo-head: install - -- [GCC 7.5](https://github.com/roboticslab-uc3m/teo-hardware-issues/issues/58#issuecomment-683809599) -- [vision](https://github.com/roboticslab-uc3m/vision) -- [speech](https://github.com/roboticslab-uc3m/speech) -- `YARP_COLORED_OUTPUT=1` - -## Mapping hostnames to IP addresses in your computer - -You can edit the `/etc/hosts` file of your system for mapping some hostnames to IP addresses. Now, you can associate the name of teo pc's -with their IPs: - -```bash -2.2.2.51 manipulation -2.2.2.52 locomotion -2.2.2.53 head -``` - -For example, if you want connect by ssh with teo-manipulation PC, you can put `ssh manipulation` instead of `ssh 2.2.2.51`. It's easier to remember!! - -## Other hardware configuration - -- [Setting up Wifi connection: Netgear A6100 WiFi USB Mini Adapter](https://robots.uc3m.es/installation-guides/install-netgear-a6100.html) - -## Uncategorized - -```bash -sudo mount -t nfs 163.117.150.231:/home/teo sitio\_de\_montaje -rsync -avzP local/dir/ teo@2.2.2.51:remote/dir/ -``` diff --git a/docs/origami/README.md b/docs/origami/README.md new file mode 100644 index 0000000..5295e39 --- /dev/null +++ b/docs/origami/README.md @@ -0,0 +1,2 @@ +![origami_tower](../fig/origami_tower.png){: style="height:350px"} +![origami_gripper](../fig/origami_gripper.png){: style="height:350px"} \ No newline at end of file diff --git a/docs/origami/demo.md b/docs/origami/demo.md new file mode 100644 index 0000000..cf694f7 --- /dev/null +++ b/docs/origami/demo.md @@ -0,0 +1,41 @@ +# Demo: Space Navigator (Inverse Kinematcs) +### The following steps are meant to be launched on the Soft Robotics PC, next to Lisbeth :) + + +Throughout this section, the required steps to run the Space Navigator demo of the soft neck are described. + +1. Plug the spnav dongle the PC. +2. Plug the PCAN-USB adapter to the PC. +3. On a terminal, run the following command for setting up the CAN bus port: + +```bash +cd ~/Desktop && sudo ./init_can.sh +``` +This file contains the following command, which sets up the physical port at a baud rate of 1MHz: + +```bash +ip link set can0 up txqueuelen 1000 type can bitrate 1000000 restart-ms 100 +``` + +4. On a terminal, launch yarpserver through the following command: + +```bash +yarpserver --write +``` +5. Open the yarpgui for individually launching the different required applications. Press **Alt+F2** at the same time to pop up the command window and type **yarpmanager**. +6. Open **SoftNeckControl_App** inside the Applications folder and launch the following apps in the described order by clicking the green launch button after selecting said app. +7. Launch SpaceNavigator. +8. Launch launchCanBus. At this point you can turn on the Power Supply with a voltage of 16V and tense the tendons through the easiest method. This is by means of the remote procedure calls (RPC). In order for this to work, the launchCanBus application needs to be launched. The RPC commands can be accessed through the following command: + +```bash +yarp rpc /softneck/rpc:i +``` + +You can tighten and untighten the tendons with the set pos command, which gives a distance(m) value for the motor to rotate. It is suggested to use increments or decrements of 0.01 as a starting value. + +```text +set pos 0 0.01 +``` + +This will shorten the first tendon a length of 0.01m. The ID associated to each motor is shown in the following figure. + diff --git a/docs/roberto/demo.md b/docs/roberto/demo.md new file mode 100644 index 0000000..cf694f7 --- /dev/null +++ b/docs/roberto/demo.md @@ -0,0 +1,41 @@ +# Demo: Space Navigator (Inverse Kinematcs) +### The following steps are meant to be launched on the Soft Robotics PC, next to Lisbeth :) + + +Throughout this section, the required steps to run the Space Navigator demo of the soft neck are described. + +1. Plug the spnav dongle the PC. +2. Plug the PCAN-USB adapter to the PC. +3. On a terminal, run the following command for setting up the CAN bus port: + +```bash +cd ~/Desktop && sudo ./init_can.sh +``` +This file contains the following command, which sets up the physical port at a baud rate of 1MHz: + +```bash +ip link set can0 up txqueuelen 1000 type can bitrate 1000000 restart-ms 100 +``` + +4. On a terminal, launch yarpserver through the following command: + +```bash +yarpserver --write +``` +5. Open the yarpgui for individually launching the different required applications. Press **Alt+F2** at the same time to pop up the command window and type **yarpmanager**. +6. Open **SoftNeckControl_App** inside the Applications folder and launch the following apps in the described order by clicking the green launch button after selecting said app. +7. Launch SpaceNavigator. +8. Launch launchCanBus. At this point you can turn on the Power Supply with a voltage of 16V and tense the tendons through the easiest method. This is by means of the remote procedure calls (RPC). In order for this to work, the launchCanBus application needs to be launched. The RPC commands can be accessed through the following command: + +```bash +yarp rpc /softneck/rpc:i +``` + +You can tighten and untighten the tendons with the set pos command, which gives a distance(m) value for the motor to rotate. It is suggested to use increments or decrements of 0.01 as a starting value. + +```text +set pos 0 0.01 +``` + +This will shorten the first tendon a length of 0.01m. The ID associated to each motor is shown in the following figure. + diff --git a/docs/softgripper/README.md b/docs/softgripper/README.md new file mode 100644 index 0000000..01abc16 --- /dev/null +++ b/docs/softgripper/README.md @@ -0,0 +1 @@ +![gripper](../fig/origami_tower.png) \ No newline at end of file diff --git a/docs/softgripper/demo.md b/docs/softgripper/demo.md new file mode 100644 index 0000000..d46091d --- /dev/null +++ b/docs/softgripper/demo.md @@ -0,0 +1,96 @@ +# Soft Gripper Demos + +## Setup and Calibration + +For the demos to work the best the finger's tendons need to be tightened first without the fingers curling excessively. A first approach can be done manually using the blue stick with the yellow head by sticking it through the honeycomb panels and rotating the encoders (black ring) on the desired sense. For tightening the tendons attached to the upper row of motors rotate the encoder counterclockwise. For those in the lower row, rotate clockwise. + +![finger_motor_sense](../fig/finger_motor_sense.png){: style="height:400px"} +![blue_stick](../fig/blue_stick.jpg){: style="height:400px"} + + + +1. Launch yarpserver with the following command. + + ```bash + yarpserver --write + ``` +2. Setup the port for CAN communications at a baud rate of 1MHz with the following command. + + ```bash + sudo ip link set can0 up txqueuelen 1000 type can bitrate 1000000 + ``` +3. For checking that a communication has been stablished between the PC and the gripper use the candump command in a new terminal. + + ```bash + candump can0 + ``` + +4. Change directory to the required one for launching the can bus application in a new terminal. + + ```bash + cd repos/sofia-yarp-devices/share/contexts/launchCanBus + ``` + +5. Launch the CAN bus application. + + ```bash + YARP_ROBOT_NAME=teoSoftGripper launchCanBus --from softGripper.ini + ``` + +8. At this point you can turn on the Power Supply with a voltage of **24 V** and tense the tendons and align the fingers. This is done by means of the remote procedure calls (RPC). The RPC commands can be accessed through the following command: + + ```bash + yarp rpc /teo/softgripper/rpc:i + ``` + +You can tighten and untighten the tendons with the set pos command, which gives a distance(m) value for the motor to rotate. It is suggested to use increments or decrements of 0.01 as a starting value. + +```text +set pos X 0.01 +``` + +Where X is the Motor ID-1, as it starts with 0 instead of 1. A figure with the IDs and the rotation movements for each of the three base motors, one for each finger: + +![gripper_top_view_with_IDs](../fig/gripper_top_view_with_IDs.png) + +## Demo: Ball Juggling + + + +Throughout this section, the required steps to run the Space Navigator demo of the soft neck are described. + +1. Plug the spnav dongle the PC. +2. Plug the PCAN-USB adapter to the PC. +3. On a terminal, run the following command for setting up the CAN bus port: + +```bash +cd ~/Desktop && sudo ./init_can.sh +``` +This file contains the following command, which sets up the physical port at a baud rate of 1MHz: + +```bash +ip link set can0 up txqueuelen 1000 type can bitrate 1000000 restart-ms 100 +``` + +4. On a terminal, launch yarpserver through the following command: + +```bash +yarpserver --write +``` +5. Open the yarpgui for individually launching the different required applications. Press **Alt+F2** at the same time to pop up the command window and type **yarpmanager**. +6. Open **SoftNeckControl_App** inside the Applications folder and launch the following apps in the described order by clicking the green launch button after selecting said app. +7. Launch SpaceNavigator. +8. Launch launchCanBus. At this point you can turn on the Power Supply with a voltage of 16V and tense the tendons through the easiest method. This is by means of the remote procedure calls (RPC). In order for this to work, the launchCanBus application needs to be launched. The RPC commands can be accessed through the following command: + +```bash +yarp rpc /softneck/rpc:i +``` + +You can tighten and untighten the tendons with the set pos command, which gives a distance(m) value for the motor to rotate. It is suggested to use increments or decrements of 0.01 as a starting value. + +```text +set pos 0 0.01 +``` + +This will shorten the first tendon a length of 0.01m. The ID associated to each motor is shown in the following figure. + diff --git a/docs/softgripper/motors.md b/docs/softgripper/motors.md new file mode 100644 index 0000000..2642399 --- /dev/null +++ b/docs/softgripper/motors.md @@ -0,0 +1,20 @@ +# Maxon Model 339276 Motor +The motor's datasheet can be found at this [link](https://www.maxongroup.es/maxon/view/product/motor/ecmotor/ecflat/ecflat45/339276). + +#### Values at Nominal Voltage + +[soft-gripper-motor-NV.csv](csv/soft-gripper-motor-NV.csv) + +{{ read_csv('docs/csv/soft-gripper-motor-NV.csv') }} + +#### Characteristics + +[soft-gripper-motor-C.csv](csv/soft-gripper-motor-C.csv) + +{{ read_csv('docs/csv/soft-gripper-motor-C.csv') }} + +#### Mechanical Data + +[soft-gripper-motor-MD.csv](csv/soft-gripper-motor-MD.csv) + +{{ read_csv('docs/csv/soft-gripper-motor-MD.csv') }} diff --git a/docs/softneck/README.md b/docs/softneck/README.md index a007bef..9c15385 100644 --- a/docs/softneck/README.md +++ b/docs/softneck/README.md @@ -1,11 +1,14 @@ -# Software Repositories +# Soft Neck Related Content -The following sections contain comprehensive lists of repositories and their relation to TEO. +The following sections contain comprehensive guides and documentation for the soft neck. -* [PC Software](pc.md) -* [Firmware](firmware.md) -* [Demonstration](demonstration.md) -* [Research](research.md) -* [Development](development.md) +* [Demo](demo.md) -An updated list of repositories of the [roboticslab-uc3m](https://github.com/roboticslab-uc3m) organization can be found in the [Repository Index](https://robots.uc3m.es/developer-manual/appendix/repository-index.html) of the general [Developer Manual](https://robots.uc3m.es/developer-manual/). A great number of generic reusable component repositories can be found there, as well as a [dedicated TEO subsection](https://robots.uc3m.es/developer-manual/appendix/repository-index.html#teo). +#### List of publications: + + +Designed by since [2018](https://ruc.udc.es/dspace/bitstream/handle/2183/24937/2018_Luis_Nagua_A_first_approach_to_a_proposal_of_a_soft_robotic.pdf?sequence=3&isAllowed=y). The current version of this platform was presented along with an approach for the system identification using MLP techniques in [2022](https://www.researchgate.net/profile/Luis-Nagua-2/publication/365628027_IDENTIFICACION_DE_UN_CUELLO_ROBOTICO_BLANDO_MEDIANTE_APRENDIZAJE_AUTOMATICO/links/637bdd4f37878b3e87ccf019/IDENTIFICACION-DE-UN-CUELLO-ROBOTICO-BLANDO-MEDIANTE-APRENDIZAJE-AUTOMATICO.pdf). Further research on this robotic platform as well as the soft arm can be found [here](https://scholar.google.es/citations?hl=es&user=I6NYnWIAAAAJ&view_op=list_works&sortby=pubdate). + +Documentation of these researchs can be found both in [Humasoft](https://github.com/HUMASoft/soft-neck-control) and [SofIA](https://gitlab.com/uc3m-sofia/soft-neck-control) Gitlab and Github repositories. + +![soft_neck](../fig/soft_neck.jpg) \ No newline at end of file diff --git a/docs/softneck/demo.md b/docs/softneck/demo.md index cf694f7..beac63b 100644 --- a/docs/softneck/demo.md +++ b/docs/softneck/demo.md @@ -1,6 +1,6 @@ # Demo: Space Navigator (Inverse Kinematcs) -### The following steps are meant to be launched on the Soft Robotics PC, next to Lisbeth :) +### The following steps are meant to be launched on the Soft Robotics PC, next to Lisbeth :) Throughout this section, the required steps to run the Space Navigator demo of the soft neck are described. @@ -8,34 +8,47 @@ Throughout this section, the required steps to run the Space Navigator demo of t 2. Plug the PCAN-USB adapter to the PC. 3. On a terminal, run the following command for setting up the CAN bus port: -```bash -cd ~/Desktop && sudo ./init_can.sh -``` -This file contains the following command, which sets up the physical port at a baud rate of 1MHz: + ```bash + cd ~/Desktop && sudo ./init_can.sh + ``` -```bash -ip link set can0 up txqueuelen 1000 type can bitrate 1000000 restart-ms 100 -``` + This file contains the following command, which sets up the physical port at a baud rate of 1MHz: + ```bash + ip link set can0 up txqueuelen 1000 type can bitrate 1000000 restart-ms 100 + ``` 4. On a terminal, launch yarpserver through the following command: -```bash -yarpserver --write -``` -5. Open the yarpgui for individually launching the different required applications. Press **Alt+F2** at the same time to pop up the command window and type **yarpmanager**. -6. Open **SoftNeckControl_App** inside the Applications folder and launch the following apps in the described order by clicking the green launch button after selecting said app. -7. Launch SpaceNavigator. + ```bash + yarpserver --write + ``` + +5. Open the yarpgui for individually launching the different required applications. Press **Alt+F2** at the same time to pop up the command window and type **yarpmanager**. + +![yarpmanager](../fig/yarpmanager.png) + +6. Open **SoftNeckControl_App** inside the Applications folder and launch the following apps in the described order by clicking the green launch button after selecting said app. +7. Launch SpaceNavigator. 8. Launch launchCanBus. At this point you can turn on the Power Supply with a voltage of 16V and tense the tendons through the easiest method. This is by means of the remote procedure calls (RPC). In order for this to work, the launchCanBus application needs to be launched. The RPC commands can be accessed through the following command: -```bash -yarp rpc /softneck/rpc:i -``` + ```bash + yarp rpc /softneck/rpc:i + ``` + + You can tighten and untighten the tendons with the set pos command, which gives a distance(m) value for the motor to rotate. It is suggested to use increments or decrements of 0.01 as a starting value. + + ```text + set pos 0 0.01 + ``` -You can tighten and untighten the tendons with the set pos command, which gives a distance(m) value for the motor to rotate. It is suggested to use increments or decrements of 0.01 as a starting value. + This will shorten the first tendon a length of 0.01m. The ID associated to each motor is shown in the following figure. -```text -set pos 0 0.01 -``` + ![softneck_labelled](../fig/neck_labelled.png) -This will shorten the first tendon a length of 0.01m. The ID associated to each motor is shown in the following figure. +9. Turn on the Space Navigator (A blue LED will start flashing) and launch streamingDeviceController. +10. Launch yarpscope for visualizing the inputs for the three motors through the following command: + ```bash + yarpscope --remote /spacenavigator/mouse --index "(0 1 2 3 4 5)" --color "(Red Green Blue LightRed LightGreen LightBlue)" --min -1 --max 1 + ``` + \ No newline at end of file diff --git a/docs/switches-and-power.md b/docs/switches-and-power.md deleted file mode 100644 index 280f625..0000000 --- a/docs/switches-and-power.md +++ /dev/null @@ -1,8 +0,0 @@ -# Switches and Power - -| **Main Switches** | **Instructions** | -| --- | --- | -|
power-supply
 |
First, turn on the two main power supplies of TEO (yellow circles) and adjust the voltage to 42 V (red arrows).
| -|
main-switches
 |
Turn on the General switch and then turn on the switches corresponding to the label marked on the top of each one.
| -|
computer-switches
 |
Finally, turn on each of the switches corresponding to the computers. The buttons of the second column are responsible for turning on the computers of the head, manipulation and locomotion in this order. The buttons of the first column are used to reset the computers in the same order as the second column.
| -|
emergency-buttons
 |
The emergency buttons will allow us to stop the electricity of motors and drivers of each part of the robot, documented under each button with a label:
head, arms, legs
| diff --git a/docs/tables.md b/docs/tables.md deleted file mode 100644 index 42bec0c..0000000 --- a/docs/tables.md +++ /dev/null @@ -1,155 +0,0 @@ -# Tables - -## Joint Limits - -Can be found at [Motores: motores](#motores-motores) - -## DH Parameters - -### Group: head - -#### trunk for head (root to neck) - -[dh-root-head.csv](csv/dh-root-head.csv) - -{{ read_csv('docs/csv/dh-root-head.csv') }} - -#### head - -[dh-head.csv](csv/dh-head.csv) - -{{ read_csv('docs/csv/dh-head.csv') }} - -#### head additional transformations - -[dh-head-transformations.csv](csv/dh-head-transformations.csv) - -{{ read_csv('docs/csv/dh-head-transformations.csv') }} - -### Group: rightArm - -#### trunk for rightArm (root to rightArm) - -[dh-root-rightArm.csv](csv/dh-root-rightArm.csv) - -{{ read_csv('docs/csv/dh-root-rightArm.csv') }} - -#### rightArm - -[dh-rightArm.csv](csv/dh-rightArm.csv) - -{{ read_csv('docs/csv/dh-rightArm.csv') }} - -#### fetch (right) - -[dh-fetch.csv](csv/dh-fetch.csv) - -{{ read_csv('docs/csv/dh-fetch.csv') }} - -### Group: leftArm - -#### trunk for leftArm (root to leftArm) - -[dh-root-leftArm.csv](csv/dh-root-leftArm.csv) - -{{ read_csv('docs/csv/dh-root-leftArm.csv') }} - -#### leftArm - -[dh-leftArm.csv](csv/dh-leftArm.csv) - -{{ read_csv('docs/csv/dh-leftArm.csv') }} - -#### fetch (left) - -[dh-fetch.csv](csv/dh-fetch.csv) - -{{ read_csv('docs/csv/dh-fetch.csv') }} - -### Group: rightLeg - -#### root to rightLeg - -[dh-root-rightLeg.csv](csv/dh-root-rightLeg.csv) - -{{ read_csv('docs/csv/dh-root-rightLeg.csv') }} - -#### rightLeg - -[dh-rightLeg.csv](csv/dh-rightLeg.csv) - -{{ read_csv('docs/csv/dh-rightLeg.csv') }} - -### Group: leftLeg - -#### root to leftLeg - -[dh-root-leftLeg.csv](csv/dh-root-leftLeg.csv) - -{{ read_csv('docs/csv/dh-root-leftLeg.csv') }} - -#### leftLeg - -[dh-leftLeg.csv](csv/dh-leftLeg.csv) - -{{ read_csv('docs/csv/dh-leftLeg.csv') }} - -### Group: Deprecated transformations - -The below are not required at time of writing, and may become outdated with time. - -#### Deprecated trunk (root to hip) - -This is the original `trunk`, but the three variants (for `head`, `rightArm`, `leftArm`; respectively, above) seem to be more useful. - -[deprecated/dh-trunk.csv](csv/deprecated/dh-trunk.csv) - -{{ read_csv('docs/csv/deprecated/dh-trunk.csv') }} - -#### Deprecated additional transformations - -Some not required, redundant or may be derived from from existing `dh-root-*.csv` contents (above). - -[deprecated/dh-transformations.csv](csv/deprecated/dh-transformations.csv) - -{{ read_csv('docs/csv/deprecated/dh-transformations.csv') }} - -## Link Lengths - -[lengths.csv](csv/lengths.csv) - -{{ read_csv('docs/csv/lengths.csv') }} - -## Bill of materials (BOM) - -[bom.csv](csv/bom.csv) - -{{ read_csv('docs/csv/bom.csv') }} - -### Motores - -- Original with formulas: [editable/motores.ods](csv/editable/motores.ods) - -### Motores: motores - -[motores-motores.csv](csv/motores-motores.csv) - -{{ read_csv('docs/csv/motores-motores.csv') }} - -### Motores: protecciones-brazos - -[motores-protecciones-brazos.csv](csv/motores-protecciones-brazos.csv) - -{{ read_csv('docs/csv/motores-protecciones-brazos.csv') }} - -### Motores: protecciones-piernas - -[motores-protecciones-piernas.csv](csv/motores-protecciones-piernas.csv) - -{{ read_csv('docs/csv/motores-protecciones-piernas.csv') }} - -### Motores: transmision - -[motores-transmision.csv](csv/motores-transmision.csv) - -{{ read_csv('docs/csv/motores-transmision.csv') }} diff --git a/mkdocs.yml b/mkdocs.yml index 00c4d03..928e5c3 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -12,6 +12,7 @@ theme: features: - content.action.edit - content.action.view + - content.code.copy - navigation.footer - navigation.indexes - navigation.sections @@ -54,33 +55,36 @@ exclude_docs: | nav: - Home: README.md -- introduction.md #- Cognitive Architecture: architecture.md - Soft Neck: - softneck/README.md - - Demo: softneck/demo.md - #- Firmware: overview/firmware.md - #- Demonstration: overview/demonstration.md - #- Research: overview/research.md - #- Development: overview/development.md -- Tutorial: - - tutorial/README.md - - Motor Control: tutorial/motor.md - - Trajectory Execution: tutorial/trajectories.md - - RGB-D Sensor: tutorial/rgbd.md - - Mesh From Real Depth: tutorial/mesh.md - - Scene Reconstruction: tutorial/kinfu.md - - Force/Torque Sensors: tutorial/ft.md -- diagrams.md -- tables.md -- dynamic-information.md -- switches-and-power.md -- connectors.md -- network-information.md -- driver-check-procedure.md -- demo-procedure.md -- additional-resources.md -- contributors.md + - Demo-Space Navigator: softneck/demo.md +- Soft Gripper: + - softgripper/README.md + - Demo: softgripper/demo.md + - ElectroMechanical Data: softgripper/motors.md +- Origami: + - origami/README.md + - Demo: origami/demo.md +- Roberto: + - roberto/README.md + - Demo: roberto/demo.md +- Instron: + - instron/README.md + - Demo: instron/demo.md +- MOCAP: + - mocap/README.md + - Demo: mocap/demo.md +# - diagrams.md +# - tables.md +# - dynamic-information.md +# - switches-and-power.md +# - connectors.md +# - network-information.md +# - driver-check-procedure.md +# - demo-procedure.md +# - additional-resources.md +# - contributors.md use_directory_urls: false