二足歩行ロボットコミュニティサイト

【サイトの使い方】  【サイトマップ】  【お問い合わせ】 
ロボット動画  |   ロボット写真  |   BBS  |   ダウンロード  |   イベント予定  |   スタッフ日記  |   リンク  |  
ログイン パスワード    新規登録   パスワード紛失  

[掲示板に戻る全部  1-  最新50
1 Install VS-IX001 in Robovie X
kif
新米

kif 2009-11-10 19:51  SITE  MAIL  [返信] [編集]

Bonjour;

J'ai besoin d'aide s.v.p comment faites vous pour déclarer le Gyro VS-IX001 sur le Robovie, j'ai bien monter le hardware et c'est ok avec le VS-RC003 par contre j'ai un doute comment déclarer les variables sur les servo pieds et servo chevilles
si vous pouvez m'expliquer en photos ( ce sera plus facile)ce serais vraiment gentil

Merci d'avance

Salutations

--------------


Hi;

I need help please how do you report the Gyro VS-IX001 on Robovie, I did get the hardware and it is Ok with the VS-RC003 so, by cons I doubt how to declare variable on the servo ankle and servo foot
if you can explain in pictures (this is easier) it would be really nice

Thank's in advance


Kind regards





2 Re: Install VS-IX001 in Robovie X
combat-e
長老

combat-e 2009-11-10 21:30  [返信] [編集]

To kif.

First, I want to check your robot setting(whether the VS-IX001 setting is correctly done.).

Please check those pictures.

1.Open 'CPU preferences' dialog(Click in order of the figure.).




2.Open 'Add/Delete extended boards' dialog(Click in order of the figure.).




3.Open 'VS-IX001 preferences' dialog(Click in order of the figure.).




4.Confirm those items & parameters.



'Current connection state' is 'O.K.'?

If 'O.K.', shakes or inclines your robot.
'Accelermeter preferences' parameters changes when inclines your robot.
And 'Gyro preferences' parameters changes when shakes your robot.

If '--', click 'Apply' button and confirm the change into 'O.K.'.
If 'NG', change 'I2C bus address' and click 'Apply' button(Test all patterns. ).


If it is 'O.K.' here, you can use Gyro sensor on Robovie-X.
Because of,As for default robot-project of Robovie-X, the setting for VS-IX001 has already been done.
-Axis setting, pose sliders, and any motion-datas(Walk, kick, and more).

How to apply the board is wrong if not becoming 'O.K.'.



If you want to use Gyro sensor for new motion-data,try this.


1.Drag center line to right.





2.Show 'Gyro X(or Y) Gain' pose sliders.




There parameters is gain of Gyro sensor.
The Gyro sensor works strongly if the numerical value is large, and when the numerical value is 0, the Gyro sensor becomes invalid.

Maximize these numerical values and shake your robot.Then will move ankle axis.
-Communicate with the robot and turn on servo motor ahead of that.

If you adjust those parameters, you can use Gyro sensor appropriately.



If you want to setting Gyro sensor for any other axis, Open 'CPU preferences' dialog.




Click 'Servo motor output'-tab first(upper side on picture).


[1]:Setting axis select.
[2]:Basic gain for setting axis.(Make it to about -300 - +300 for the time being is good.)
[3]:Select pose-slider number that sets the gain is set.(Select '31' when pitch axis, or select '32' when roll axis.)
[4]:The variable for which the numerical value of the sensor is substituted is set.(Select '133' when pitch axis, or select '132' when roll axis.)

If complete all setting, click 'Apply' button ang close this dialog.
And write motion & sound datas for VS-RC003(The setting is written with this.).

See and adjust actual movement when setting those parameters, Because a good setting is a feeling and an experience.

3 Re: Install VS-IX001 in Robovie X
kif
新米

kif 2009-11-11 21:33  SITE  MAIL  [返信] [編集]

Salut;
Merci, merci, vraiment vous remercier pour votre aide!


J'ai appliqué vos instructions, tout fonctionne, le robot est en fait mieux, mais:
-1 - Est-il normal que je ne vois pas les effets de gyroscopique lorsque je change les curseurs gain gyro en temps réel?
-2-elle ne pas répéter une indemnité lorsque je penche comme l'exemple de "heim.seesaa" RB2000 avec elle?

Le matériel Gyro état est OK, voici mes paramètres:
CN1.1 rouleau de cheville: -300 / 32/132
CN1.2 cheville Pitch: -300 / 31/133
CN2.1 rouleau de cheville: -300 / 32/132
CN2.2 cheville Pitch: 300 / 31/133
GAIN GX: +200
GAIN GY: +256

-3 - Est ce qui peut être lié, mais j'ai aussi noté dans le mode 1-V2
«Le lever du visage" ne fonctionne pas avant que le robot tombe en avant
de sorte que le "lever d'en bas" c'est OK

Le visage "Cartwell" it's ok,
mais le «Cartwell vers le bas", ce n'est pas OK, le robot a été incapable de se redresser qu'elle tombe?? si je posible avoir erreur dans le «Point 4"

-4 - Avez-vous la photo pour le Robovie en "stand straight"
parce que pour servo calibration du robot est maigre, trop en avant et je dois compenser thighPitch & kneePitch pour + toujours 15 Degrés???? Je vérifie les instructions d'installation est que je ne comprends pas la position initiale de la cuisse et du genou??

Excusez-moi pour une question de son trop long!

Merci d'avance

Sincères salutations





Hi;
thank you, thank you, really thank you for your help !!!


I applied your instructions, everything works, the robot is actually better, though:
-1 - is it normal that I do not see the effects of gyro when I change the gyro gain sliders in real time?
-2-it does not duplicate any compensation when I incline as the example of "heim.seesaa" RB2000 with her?

The hardware Gyro Status is OK, here are my settings:
CN1.1 Ankle roll : -300 /32/132
CN1.2 Ankle Pitch : -300 /31/133
CN2.1 Ankle roll : -300 /32/132
CN2.2 Ankle Pitch : 300 /31/133
GAIN GX : +200
GAIN GY : +256

-3- is what can be linked but I also noted in the mode 1-V2
"the getting up from face "does not work before the robot falls forward
so the "getting up from down" it's OK

The "cartwell face" it's Ok ,
but the "cartwell down" it's not OK the robot was unable to recover it falls?? if posible i have mistake in "Point 4"

-4- do you have the picture for the robovie in "stand straight"
because for calibration servo the robot is too lean forward and I should compensate thighPitch & kneePitch for + 15 Degrés always ???? I check the installation instructions is I do not understand the initial position for thigh & knee ??

Excuse me for some question its too long !!!

Thank's in advance

Kind regards























4 Re: Install VS-IX001 in Robovie X
combat-e
長老

combat-e 2009-11-13 17:40  [返信] [編集]

To kif.

If moves ankle axis when you shake robot, your robot

Q.1

Even if the robot is shaken according to the operation sound etc. of the robot, the movement of Ankle-Axis might not be understood easily.

So if you want to confirm Gyro-effects clearly, Make the numerical value of the gain larger by way of experiment.
-Open 'CPU preferences' dialog, and change 'CN1.1 Ankle roll : -300' parameter to 'CN1.1 Ankle roll : -1000'.
-Note that the robot becomes unstable oppositely when the gain is too strong.


Q.2

Sorry, I can't realize your question too much well.
Do you want to use Acceleration sensor for balancing?

There are few people who have used the sensor by the purpose in Japan.
So I can't to do good advice for you.

If you try this, refer that.

1.Open 'CPU preference' and click 'Servomotor output' tab.

2.Select axis and set any parameters like Gyro setting.




[1]Sensor gain. Suitable parameter is about '1000' when I tried my robot.
[2]Pose-slider number for adjusts sensor gain. Select any pose lider number that you will use it for the gain.I use '55' because of I don't use this number slider on my robot-project.
[3]Accelerometer sensor variety:Select '129' when axis type is 'Pitch'. Or select '130' when axis type is 'Roll'.




3.Open 'Pose slider preference' dialog and set params like this picture.




4.Appear a new pose slider on left-up of pose area. Move it any place by drag with SHIFT key down.




5.The axis of the robot that sets to enlarge the numerical value of posed slider and to incline the robot moves.




Q.3,Q.4

The border that the numerical value of the sensor set might not be exceeded.

For your information, it explains the setting method in general.

1.Start communicate for robot and turn on servo motor.

2.Open 'VS-IX001 preferences' dialog. And lay the robot down(foword and back).


3.Record the numerical value of 'X-axis' params at that time.
-By the way, it became the numerical value of about 950 and -1100 for my robot.






An appropriate numerical value is a value brought close from these to 0 a little.
-'950' -> '900' or '850', and '-1100' -> '-1000' or '-950'

4.Open 'Control-map V1' dialog. And assign motions 'Analog 1' , 'Analog 2' and set params 'Analog input' area.
-'Analog 1' advanced condition is '850'. And 'Analog 2' advanced condition is '-950'.




Bring it close to the value of the examined sensor little by little if the motion is not reproduced.


5 Re: Install VS-IX001 in Robovie X
kif
新米

kif 2009-11-14 21:35  SITE  MAIL  [返信] [編集]

Hi Combat-e san;


I really appreciate your help, thank you

For the Q1 is good now thanks to you (in fact I thought at first that we could see the effects of gyro in real time when you change the sliders)

For Q2 actually I wanted to replicate the example "auto balance" of seesa here :http://heim.seesaa.net/


For Q4 it's good now I managed to set the servo calibration, in fact I had a problem understanding the instructions, so I made Axis thigh Pitch, pitch axis of the knee, and aligned in a straight line towards the center of the bolt, screw axis

but For Q3 i have probléms :I followed your instructions and got an error message : "assign the iddle Motion to the Map of select +delta" ????
My proceed :

Select N5 in the mode switch
New
Map V1
Analog 1, 129, Large trshold, and put value "1100" in setting
assing the motion"getting from faceup.txt"
Close
and after i have the error message ??


PS : what version release you have English of robovieMaker on your Pictures?? (Mine is 005 release English version & firmware 1.000(12), but I can not have the latest version in English in the vstone site, and firmware )

Thank's in advance

Kind Regards

Franck




















6 Re: Install VS-IX001 in Robovie X
combat-e
長老

combat-e 2009-11-15 10:48  [返信] [編集]

To kif.


Sorry, I mistaked in the link to the last image.
I corrected there.

And I foreget answer to your question 4.

Please show that document.
http://www.vstone.co.jp/top/products/robot/roboviex/RobovieX_sup_ver110.zip

It figure correct angle of calibration on Page.17-25.
-You'll have english ver. of this doc. It's collected to CD of the attachment.



-How to set 'Control map V1'

-but For Q3 i have probl醇Pms :I followed your instructions and got an error message : "assign the iddle Motion to the Map of select +delta" ????


You must assign idling motion to 'idling'(top of the motion-list of dialog).

'Idling motion' executed when there is no input from immediately after having turned on power and any controller.
Robot can stand at first and idle because of this motion is set.


For instance, the one included in 'idling motion' has 'X Motion/Waiting/Fully upright.txt' etc.

7 Re: Install VS-IX001 in Robovie X
kif
新米

kif 2009-11-16 17:24  SITE  MAIL  [返信] [編集]

Hi Combat-e San

I had no such documentation at the beginning, that's why I could not calibrate correctly !!!!!

Great is all good now thanks to you

thank you really thank you


- 1 - Please Can you explain the note on page 22 in the yellow zone if I understood once calibrate the servos I must rule the knees at +35 & -35 degree's it?

- 2 - How should I do to get the latest firmware and release of roboviemaker2 in English version ??

you have an idea ??



Thank's in Advance

Bests Regards

Franck

8 Re: Install VS-IX001 in Robovie X
combat-e
長老

combat-e 2009-11-19 10:34  [返信] [編集]

To kif.

Q.1

It is besides concerning the adjustment.
It explains the knack when adjusting it.

If you select some pose-slider and move mouse's wheel, parameter of selected pose-sliders are change.
-Did you know that?

So, If you do that to pose-sliders that pairs off ,Those axis can be offset and only the same angle be offset at a time.
-example 'Left and Right Knee pitch axis', 'Left and Right ankle pitch axis', and more.

Right-click in either posed slider when it moves in the counter direction right and left.
And select 'Reverse pose sliders' from pop-up menu.



Q.2

My RobovieMaker2 is Release.8 and firmware is revision.12.

It is likely to be able to possibly get higer-version RobovieMaker2 if it hears it from KumoTek.

However, two differences have only little function addition extent.

It explains the difference of the version on this web page (However, though it is Japanese).
http://www.vstone.co.jp/top/products/robot/support_vsrc003.html#download-3-1
9 Re: Install VS-IX001 in Robovie X
kif
新米

kif 2009-11-19 16:17  SITE  MAIL  [返信] [編集]

Hi Combat-e San

Thank's For Reply

Q1- yes I know the use of sliders, my question is mainly on this page 22 because I do not understand the japanese what adjustment should be applied on the knees (+3.5 & -3.5 Deg ?? ) in the yellow zone


Q2-

Ha ok is not imperative to have the latest version as these are minor changes (unless I want to pass the 19-axis robot, I saw corrections on the movements on the site vstone)


Not possible to have the latest version in Kumotek (At this day its RobovieMaker release 5)


if you have the version 8 firmware and 12 in English, is it possible you send me ?


Kind Regards
10 Re: Install VS-IX001 in Robovie X
kif
新米

kif 2009-12-1 0:45  SITE  MAIL  [返信] [編集]

Hi Combat-e San

I want reproduce this Gyro or Axis stabilisation with my Robovie

Do you have some idea for this way ??

see video here :http://www.youtube.com/watch?v=0N49_SL3CK8&feature=related

Thank's in advance

PS : if you have the time its possible please to explain me the Q1

is mainly on this page 22 because I do not understand the japanese what adjustment should be applied on the knees (+3.5 & -3.5 Deg ?? ) in the yellow zone
11 Re: Install VS-IX001 in Robovie X
combat-e
長老

combat-e 2009-12-1 14:47  [返信] [編集]

To kif

Do you want to make legs of your robot like shock absorber?

Perhaps, I think it is difficult for a moment in CPU(VS-RC003HV,RCB-3, and others) on the market.
-It might be easy to do if it is CPU of making by oneself that can customize the programming.

I think, it is necessary to achieve 'Time series processing(?)'.

For example,Z-Axis Accelerormeter parameter is about +1300 when be falling robot.
And, Z-Axis Accelerormeter parameter is about +1000 when landed robot.

Therefore, it is necessary to set it, that is, "Deal when the previous numerical values are smaller than the current numerical values".
And, the angle that moves the motor is decided according to the size of the difference of this numerical value.

*The numerical value might be different in other robots by the reference value in Robovie-X.


However, it is possible to correspond only within the range that can be judged only from the current numerical value as a rule in the setting of the servo-motor of VS-RC003.

For instance, the program as shown in figure is made, and it is set that it moves in the pitch axis of the leg corresponding to the variable that records the difference of the numerical value.
-If it is a program of figure, the pitch axis of the leg is bent by v80 large.





The numerical value actually swings and because the error margin goes out, becomes complex a little more to correspond to them.




About Q1.

I'm sorry that the answer is delayed.

There('(+3.5 & -3.5 Deg ') is not a meaning in the numerical value either.
This is an explanation of the operation "The numerical value of posed slider is changed with mouse's wheel".
12 Re: Install VS-IX001 in Robovie X
kif
新米

kif 2009-12-1 20:08  SITE  MAIL  [返信] [編集]

Hi combat-E San

& thank you for your reply

Thank you for this information I will try in this way


In fact I try to have the maximum static stability and also a walking elegant & stability (I think the original version of the basic Walking is too hard & speed)

If you have the time
Can you tell me please your settings servo & variables
and your file adapted/modified walk (I'm sure you have good results)

Kind Regards
13 Re: Install VS-IX001 in Robovie X
kif
新米

kif 2009-12-26 18:37  SITE  MAIL  [返信] [編集]

Hi Combat-e San;

How to reverse the servo phisicaly ???

I create a new robot design with orthogonal ankle, but mechanically I have ankle servo are reversed, what is being done to reverse the rotation of the servos in the settings?

1) I must redo all poses walk motion ankle step by step ?
2) or there is a way to reverse the direction of rotation ankle without redo all poses walk motion ?

thank's for advance

Kinds regards
14 Re: Install VS-IX001 in Robovie X
combat-e
長老

combat-e 2009-12-27 16:26  [返信] [編集]

To kif.

The way of reversing the direction where the servo-motor is rotated is as follows.
However, note the respect because the following are the reversal methods based on '0.0deg'.

1.Open 'CPU-preferences dilog'(Click menu 'Project Setting' > 'CPU preferences...')
2.Click 'Servomotor Output' Tab and see 'PWM preferences' area.





3.Change the numerical value of '15000' of default into '-15000'.When the plus is replaced with the minus, the direction where the servo motor rotates is reversed.

4.Click 'Apply' and write setting to CPU-borad.


The PWM output to the servo motor corresponds to the linear equation to which the setting has been changed with the above-mentioned. Therefore, when the plus of the coefficient is replaced with the minus, the PWM output is reversed.

In the one that relates to next '24300' Numerical value 'Calibrate servomotors'it corresponds to the offset of the PWM output.
Even if here doesn't change, the calibration of the servomotor is sure to be kept.


The method to offset by using 'Calibrate servomotors' if it is necessary to test this method, and to offset the motor is easy.

However, it should be thought that a physical range of movement doesn't narrow including how etc. to install the motor.
15 Re: Install VS-IX001 in Robovie X
kif
新米

kif 2009-12-28 16:49  SITE  MAIL  [返信] [編集]

Hi Combat e San,

Thank's very thank's

本当にありがとうございます

16 Re: Install VS-IX001 in Robovie X
triharp
新米

Leonardo 2010-1-10 3:23  MAIL  [返信] [編集]

Hi combat-e,
I search the English version of RobovieMaker2.
Can you help me, please ?
Thanks in advanced, Leonardo.
17 Re: Install VS-IX001 in Robovie X
combat-e
長老

combat-e 2010-1-10 10:31  [返信] [編集]

Leonardo.. hello.

RobovieMaker2 of an English version is not up-loaded in the web page of Vstone.
However, it is likely to be able to correspond individually by inquiring directly of Vstone.

My best regards.
[掲示板に戻る全部 次100 最新50
BluesBB ©Sting_Band
検索
Loading
メインメニュー