View source for CeRVaNTeS' arm and base control (maxon+epos2)

[[Mobile manipulation | < go back to main]]


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=Maxon motors arm and base=

The drives of the arm and base are compound by the elements shown below:

==Arm==

* Shoulder (turn/tilt) = 2 motors[http://www.maxonmotorusa.com/maxon/view/content/index Maxon] RE 30 (60W) + 2 Epos2 controllers + 2 Planetary Gearheads 246:1 + 2 incremental encoders 1024cpt
* Elbow (turn/tilt) = 2 motors [http://www.maxonmotorusa.com/maxon/view/content/index Maxon] RE-max 29 (22W) + 2 Epos2 controllers + 2 Planetary Gearheads 246:1 + 2 incremental encoders 1024cpt
* Wrist(turn) = 1 motor [http://www.maxonmotorusa.com/maxon/view/content/index Maxon] A-max 22 (6W) + 1 controladora Epos2 + 1 reductora planetaria 270:1 + 1 incremental encoder 1024cpt
* Wrist (tilt/inclination) = 2 motors [http://www.maxonmotorusa.com/maxon/view/content/index Maxon] EC 20 flat (5W) + + 2 Epos2 controllers + 2 Planetary Gearheads 270:1 + sensor [http://en.wikipedia.org/wiki/Hall_effect_sensor Hall] 16cpt

'''Note''': There is a potentiometer in each joint of the arm in order to know the absolute position of the arm joints.

==Base==

* Base (left/right wheel) = 2 motors [http://www.maxonmotorusa.com/maxon/view/content/index Maxon] RE-max 29 (22W) + 2 Epos2 controllers + 2 Planetary Gearheads 86:1 + 2 incremental encoders  2048cpt

'''Note''': The Epos2 controllers are connected to a CANopen bus, each controller have a unique ID. The PC is plugged to USB port of the initial controller and it works like master.

=ROS y Epos2=

We have based on [https://code.google.com/p/wpi-rover/ wpi-rover] project to realize the driver for the communication between [http://wiki.ros.org/ ROS] and the [http://www.maxonmotor.es/maxon/view/content/index Maxon's] Epos2 controllers. This project consists of a [http://wiki.ros.org/ ROS] ''wrapper'' or ''package'' that uses the Epos2's [http://www.linux.com/ linux] libraries.


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