CeRVaNTeS' arm and base control (maxon+epos2) - Revision history

Fernando: /* Base */

2014-10-02T15:44:40Z

‎Base

Fernando: /* Maxon motors arm and base */

2014-10-02T15:43:58Z

‎Maxon motors arm and base

Fernando: /* Maxon motors arm and base */

2014-10-01T09:27:55Z

‎Maxon motors arm and base

Fernando at 10:51, 29 September 2014

2014-09-29T10:51:00Z

Fernando: Created page with " < go back to main ---- {| style="border: solid 0px white; width: 100%" !Related articles ---- !Other articles ---- |- | valign="top" width="50%" | ..."

2014-09-29T10:50:43Z

Created page with " < go back to main ---- {| style="border: solid 0px white; width: 100%" !Related articles ---- !Other articles ---- |- | valign="top" width="50%" | ..."

New page

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

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{| style="border: solid 0px white; width: 100%"
!Related articles
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!Other articles
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|-
| valign="top" width="50%" |

[[CeRVaNTeS' arm model for simulation (urdf+gazebo)]] 
[[CeRVaNTeS model for simulation (urdf+gazebo)]] 
[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]] 
[[CeRVaNTeS' Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]

| valign="top" |

[[MYRAbot's arm control (bioloid+arduino)]] 
[[Objects recognition and position calculation (webcam)]] 
[[MYRAbot's arm model for simulation (urdf+gazebo)]] 
[[MYRAbot model for simulation (urdf+gazebo)]] 
[[Integration of MYRAbot in moveIt! (gazebo+moveIt!)]] 
[[Voice control (sphinx+festival)]] 
[[MYRAbot's Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]

|}
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=Maxon motors arm=

=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.

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

@@ Line 47: / Line 47: @@
 * 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.
+'''Note''': The Epos2 controllers are connected to the 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=

@@ Line 38: / Line 38: @@
 * 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(turn) = 1 motor [http://www.maxonmotorusa.com/maxon/view/content/index Maxon] A-max 22 (6W) + 1 controller Epos2 + 1 Planetary Gearhead 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.
+'''Note''': There is a potentiometer in each joint of the arm connected to Gearhead's output in order to know the absolute position of the arm joints.
 ==Base==

← Older revision		Revision as of 09:27, 1 October 2014
Line 31:		Line 31:

	=Maxon motors arm and base=		=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=		=ROS y Epos2=

← Older revision		Revision as of 10:51, 29 September 2014
Line 30:		Line 30:


−	=Maxon motors arm=	+	=Maxon motors arm and base=

	=ROS y Epos2=		=ROS y Epos2=