Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: ICTENSW 2012 Workshop

Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

ICTENSW 2012 Workshop

Introduction …


Who are we:

• Newcastle based company established in 2004.

• Sell Educational Robotic kits and Servo Motors to Universities, Schools and Hobbyists.

Introduction …


Who are we:

• Collaborative Research & Design projects with Universities and Industry

Hykim

• 23 DOF Robot Bear

• Designed for RoboCup SPL

What’s the Plan ?


Today I’m going to talk about:

• Quick introduction to Robotis products for Education

• Learn to program the Bioloid with RoboPlus

• RoboPlus Manager

• RoboPlus Motion

• RoboPlus Task

• Learn to program the Bioloid in Embedded C

• AVR Studio

NB. ALL Software used today is license free

Intro to Robotis ProductsDynamixel Modules


- Serially controller servo motors

- Defacto Industry standard

- used be ~80% RoboCup Teams that build robots

How Servo Motors work …


http://www.pitt.edu/~sorc/robotics/handbook/ServoControl.htmhttp://www.pyroelectro.com/tutorials/servo_motor/servomotor.html

Conventional Servo motors are used for positioning

• every 20ms you need to send a pulse to the servo motor,

• the width of this pulse then determines the position the shaft rotates to.

This has to be done for every servo motor in the system => large overhead on main mcu.

http://www.pitt.edu/~sorc/robotics/handbook/ServoControl.htm

http://www.pyroelectro.com/tutorials/servo_motor/servomotor.html

How Dynamixels work …


http://tribotix.com/Products/Robotis/Dynamixel/DynamixelIntro.htm

http://tribotix.com/Products/Robotis/Dynamixel/DynamixelIntro.htm

Why is this an advantage …


- Daisy-chained wiring reduces wiring in the robot/project,

- You can now exchange more data with the Dynamixel.

Settings

• Goal Position

• Moving Speed

• Voltage & Torque Limit

• Temperature Limit

• Angle Limits (min & max)

• Control Parameters

Variables

• Current Position

• Current Speed

• Current Load

• Current Voltage

• Current Temperature

Control Parameters ….


1. Compliance

2. PID Control

Again - why are these advantages ….


Positioning Conventional servo involves:

• working out arc to be travelled, i.e. from Xo to Yo

• working out time you need servo to move from Xo to Yo

• calculate intermediate positions – t*(Yo – Xo)/T

•sending a pulse every 20ms with new target position

Again - why are these advantages ….


Positioning Dynamixel involves:

• sending a command – move to Yo at speed Z

Result:

Dynamixels distribute the intelligence around your robot project.

There are other advantages …


360o Rotating mode

Dynamixels can be used as a rotating motor at a number of speeds.

Torque OFF mode

motors shaft can be moved whilst recording shaft position …. ability to teach & repeat sequences easily.

Why are Dynamixels ideal for Robotics …


1. Daisy-chained wiring reduces wiring in the robot project,

2. Intelligence is distributed and commands are simplified,

3. Parameters can be monitored in real time,

4. Setting can be made within Dynamixel to physically protect itself,

5. Each Dynamixel module can be tuned by either Complaince or PID Control techniques,

6. Use Torque OFF mode to ‘teach’ robot movement sequences.

Intro to Robotis ProductsEducational Robotic Kits


Examples …. OLLO Kit


Examples …. BIOLOID Kit


Examples …. DARwIn-OP


Introduction to the Bioloid - Hardware


CM-510 Control Module



LiPo BatteryBalanced LiPo Battery Charger



USB2Dynamixel Converter



DMS5 – 80 cm

IR1.5 – 15cm

2-axis Gyro+/- 300o/s



Remote ControlZig-110 Set



Building a Bioloid KIt



Dynamixel Centre Position

Two ways to damage Dynamixels when building Bioloids:1.Not positioning the Dynamixel centre as indicated above, and2.Putting 8mm screws in the horn when only 6mm were required

BUT, Dynamixels do have features (when programmed) to prevent damage.

Introduction to the Bioloid - Software


RoboPlus - Manager


Invoke WindowsDevice Manager.

(useful if you needto determine USB

COM port allocation)

Connect PCTo CM510

RoboPlus - Manager


Operational Parametersand Statuses.

All connectedDynamixels

RoboPlus - Manager


External I/O DevicesPort 3: Gyro x-axisPort 4: Gyro y-axisPort 5: DMS

RoboPlus - Manager


Operational Parametersand Statuses.

RoboPlus - Manager


Move dial to change Dynamixel Position

RoboPlus - Manager


0°(Value = 0)

300°(Value = 1023)

150°(Value = 512)

Dynamixel Position representation

10233.41

300n d d

3000.293

1024d n n

….. (1)

where:

n is the value, and d is the angle in degrees.

….. (2)

e.g. If I want to move the AX-12 to 34o what number do I send to the module?

Using equation (1):

So, if we want to move the AX-12 to 34o we need to tell it to goto 116.

1024*34 3.41*34 115.94 116

300n

Shaft Potentiometer

Microcontroller10-bit

Analog to Digital Converter (A2D)

0 – 10230 – 5V0o–300o

RoboPlus - Manager


Turn motor Torque OFF

See Dynamixel Status changes …

RoboPlus Motion


Connect PCTo CM510

RoboPlus Motion


SelectPose Utility

TAB

RoboPlus Motion


New MotionFile

RED indicatesMotions

currently in CM-510

Load Default Motion File: bio_prm_humanoidtypea_en.mtn

RoboPlus Motion


SelectPose Robot

Push ButtonInitial Pose

Robot shouldStand

RoboPlus Motion


Select a Motion

Then PressPLAY

RoboPlus Motion


Download Default

RoboPlus Motion


Demo:How to create a New Motion

Things I will cover:• Use of Basic Pose Editor• User of Pose Utility

• Mirror function• Inverse Kinematics

RoboPlus Task


RoboPlus Task


RoboPlus Task


RoboPlus Task


Types of Commands:

1. Start & End

Start, Exit, Begin & End block and comments

2. Execute

Compute, Load, Label, Jump

3. Condition

If, Else If, Else

4. Loop

Endless Loop, Conditional Loop, Foor Loop, Break and Conditional Stand/Wait

5. Function

Make Callback function, Make a function, Call a function and Return from a function

RoboPlus Task


RoboPlus Task


RoboPlus Task


RoboPlus Task


AVR Studio


CM-510 is based around the ATMega2561 from Atmel

Full I/O allocation at: http://support.robotis.com/en/software/embeded_c/cm510_cm700/programming/hardware_port_map.htm

http://support.robotis.com/en/software/embeded_c/cm510_cm700/programming/hardware_port_map.htm

AVR Studio


ATMega2561

Full I/O allocation at: http://support.robotis.com/en/software/embeded_c/cm510_cm700/programming/hardware_port_map.htm

http://support.robotis.com/en/software/embeded_c/cm510_cm700/programming/hardware_port_map.htm

AVR Studio


• Programming mcu’s directly is challenging

• Using example code I’d like to step you through the programming sequence.

• I will use a project provided by Robotis called Buttons

• It’s very simple, when a pushbutton is pressed an LED will come on

• Projects supplied by Robotis were for AVR Studio 4 – we will convert to AVR Studio v5

NB. AVR Studio 5 is first time compiler has been built into the package, making it much easier to install and work with.

Embedded C programming User Manual: http://support.robotis.com/en/software/embeded_c_main.htm

http://support.robotis.com/en/software/embeded_c_main.htm

AVR Studio


AVR Studio


From the File menu:Import|AVR Studio4

Select the APS file: Button.aps

Use Default Solution Folder

Hit the Convert > button

New Solution (or project) is created.

AVR Studio


Open the Button.c file, this is a very simple project, only contains 1 c file.

From the Build menu select Build Solution (F7)

This will fail, it’s looking for: WinAVR-20090313

This is the OLD c compiler but is referenced in old Button project Makefile

WinAVR-20100110 was installed as part of AVR Studio v5

AVR Studio


From the Tools menu select Options

In the Options window select the ToolChair

In Toolchains select Atmel AVR 8-bit

Next delete the WinAVR flavour

Then Add Flavour, call this WinAVR (same as previous) and select the directory: C:\ WinAVR-20100110\bin

Close the window via the OK button

You will now be able to Build Solution

Result is a file:Button.hex

AVR Studio


• The.hex file created by AVRStudio can be found in:

…\My Documents\AVRStudio5.1\embedded+c)CM510_v1.01/example/Button\Default

• Start RoboPlus Terminal

• Hold the ‘#’ key in whilst resetting the CM-510 – this will access the bootloader

• Type in ‘L’ for load and then from the Files menu select the Transmit File option, select the file and it is transmitted

• When this is completed type in ‘G’ for Go – and the hex file is executed.

AVR Studio


Need to useRoboPlus

Terminal to download Button.hexTo CM-510

AVR Studio


FirmwareRestoration

(is easy)

Restoring CM510 to use RoboPlus suite …


THE END