Difference between revisions of "Minibot/ax-12a/ax-18a"

From Lofaro Lab Wiki
Jump to: navigation, search
(Code)
 
(One intermediate revision by one other user not shown)
Line 1: Line 1:
 
[[File:Minibot4.png]][[File:Minibot2.png]]
 
[[File:Minibot4.png]][[File:Minibot2.png]]
  
This is MiniBot it is the robot that we maid for out Senior design project. We are mapping servos to other servos in the project. From the videos you can see that the blue robot is controlling the red robot.
+
The robot above is a custom designed and 3D printed robot we refer to as Minibot and was created as a part of a senior design project at George Mason University. It is comprised of a series of Dynamixel AX-12 and AX-18 servos, daisy-chained together, and two USB cameras connected separately.  All of the pieces are connected using 3D printed, plastic brackets, available on Thingiverse, and the robot is attached to a 1/2" thick, 7.5"x12" board. The board is attached to the mobile platform, an MMP8, by velcro for easy removal. From the videos, it can be see that the blue robot is the controller for the red robot.
 +
 
 +
The code for the project scans to see how many servos make up the robot and controller. In order for the joints to be linked, the servo ID's must be in a specific order. For example, the servos in Minibot are ordered from 1-10 starting from the left claw, to the left shoulder, to the right shoulder, and down to the right claw.  The waist is 11, neck (pan) 12, and finally the head (tilt) is 13. The servos in the controller, then, either begin at an offset value, say 21, if the robots are controlled on one PC, or the same value 1 if they are being controlled by multiple PCs, and go up to the highest value on the controlled robot. It is important to note that the controller will have two less servos than the robot, since the virtual reality system accounts for the commands sent to the robot's stereovision system.
  
The code for the project looks to see how many servos there are on the robot and also looks to see how many are on the controller. one important thing is that the ids of the servos must be in the same order. For example if the robot you see above is ordered from 1-10 left to right then the waist is 11 neck is 12 and the tilt is 13. The ones on the controller must be in that same order you can start from id 20 and go up if you want or you can just keep them the same number as long as they are in the same order they will be ok. The pan and tilt must have the two highest servo ids.
 
 
----
 
----
 
==Tutorials==
 
==Tutorials==
Line 16: Line 17:
 
==Code==
 
==Code==
 
* [[How to use the code]]
 
* [[How to use the code]]
* [http://WDMyCloud.device1083053.wd2go.com/api/1.0/rest/dir_contents/Public/Lofaro%20Labs/server?device_user_id=9466339&request_auth_code=6e2eaafe0e5d65c83eeb81a858367e9a0c0bb2626efd7b11bbefa145b10f36e9 Server]
+
** [http://WDMyCloud.device1083053.wd2go.com/api/1.0/rest/dir_contents/Public/Lofaro%20Labs/server?device_user_id=9466339&request_auth_code=6e2eaafe0e5d65c83eeb81a858367e9a0c0bb2626efd7b11bbefa145b10f36e9 Server]
* [http://WDMyCloud.device1083053.wd2go.com/api/1.0/rest/dir_contents/Public/Lofaro%20Labs/client?device_user_id=9466339&request_auth_code=ec7563eece965812c6fe59aa0957b518b685b57790ac3a369e8b8fe96703019b client]
+
** [http://WDMyCloud.device1083053.wd2go.com/api/1.0/rest/dir_contents/Public/Lofaro%20Labs/client?device_user_id=9466339&request_auth_code=ec7563eece965812c6fe59aa0957b518b685b57790ac3a369e8b8fe96703019b client]
 
* [https://github.com/LofaroLabs/ARCHR-Servo-Control can also be found here]
 
* [https://github.com/LofaroLabs/ARCHR-Servo-Control can also be found here]
  

Latest revision as of 16:17, 11 December 2014

Minibot4.pngMinibot2.png

The robot above is a custom designed and 3D printed robot we refer to as Minibot and was created as a part of a senior design project at George Mason University. It is comprised of a series of Dynamixel AX-12 and AX-18 servos, daisy-chained together, and two USB cameras connected separately. All of the pieces are connected using 3D printed, plastic brackets, available on Thingiverse, and the robot is attached to a 1/2" thick, 7.5"x12" board. The board is attached to the mobile platform, an MMP8, by velcro for easy removal. From the videos, it can be see that the blue robot is the controller for the red robot.

The code for the project scans to see how many servos make up the robot and controller. In order for the joints to be linked, the servo ID's must be in a specific order. For example, the servos in Minibot are ordered from 1-10 starting from the left claw, to the left shoulder, to the right shoulder, and down to the right claw. The waist is 11, neck (pan) 12, and finally the head (tilt) is 13. The servos in the controller, then, either begin at an offset value, say 21, if the robots are controlled on one PC, or the same value 1 if they are being controlled by multiple PCs, and go up to the highest value on the controlled robot. It is important to note that the controller will have two less servos than the robot, since the virtual reality system accounts for the commands sent to the robot's stereovision system.


Tutorials


Code

Videos

Building Minibot