HomePage WikiSandbox Lab Robots Haptics Cameras Hands BMM 1 & 2 Drones Ontology KnowledgeMotionPlanning RFID Pant-tilt Pozyx Development tools ARM development STM32F4-Discovery CMake ? Revision Control ROS Orocos ? Soem Realtime OS Fril ? Emacs with Lisp Projects Cgrip ? Platform ? Visual Odometry Dual-Arm Motion Planning PhanTorque Libraries 3DOF Regressor Bi hand-arm PCA Kinect 3D Model Capture Tips ? Console LaTeX Working on ? Project Grasping edit SideBar	Moving the BMM using the Sensable Omni Haptic In this teleoperation the haptic Sensable Omni is used to command the TCP of the BMM . Requisits ROSJAC repository: '$ git clone https://github.com/joseparnau/rosjac.git' in the 'catkin_ws/src' directory. IOCJAC repository: '$ git clone https://github.com/joseparnau/iocjac.git' in the '~' directory. JACGIT repository: '$ git clone https://github.com/joseparnau/jacgit.git' in the '~' directory. Steps $ roscore 'camaleon' PC: $ roslaunch kview_prenodes demo6_omni2bmm_kauNreal_camaleonCore_kauthSplit_camaleon.launch move:=1 KRC: Open and execute R1/Program/FRIDemo/FRIControlUp10ms with the drives ON in Automatic Mode. Platform: Set drives ON. 'bmm' PC: $ roslaunch kview_prenodes demo6_omni2bmm_kauNreal_camaleonCore_kauthSplit_bmm.launch PROVISIONAL - Alternatively, instead of the last step do: 'bmm' PC: $ /home/josep.a.claret/catkin_ws2/devel/lib/lwr_fril_control/friLWR_PositionControl_by_Position 'bmm' PC: $ /home/josep.a.claret/catkin_ws2/devel/lib/platform_vel_control/platform_vel_control_node Problems If the FRIControl program outputs any error, stop (Ctrl+C) 'bmm' ROS nodes, set LWR drives OFF, FRI->FRICLOSE and reset FRIControl. Afterwards go back to step 3. If the program does not execute restart the motors and/or reset the security button. It may happend (rarely - maybe while close to a singularity) that one of the LWR joint's speed is surpassed. If so, the LWR will stop. Close all programs and go back to step 2. Caution TO STOP TELEOPERATING MOVE THE OMNI TO ITS CENTRAL POSITION UNTIL THE BMM STOPS MOVING AND PRESS BOTH OMNI BUTTONS TO FIX IT AND STOP TELEOPERATING. NEVER LET THE OMNI FALL AS THE BMM WILL MOVE WITHOUT CONTROL.

Moving the BMM using the Sensable Omni Haptic

In this teleoperation the haptic Sensable Omni is used to command the TCP of the BMM .

Requisits

ROSJAC repository: '$ git clone https://github.com/joseparnau/rosjac.git' in the 'catkin_ws/src' directory.
IOCJAC repository: '$ git clone https://github.com/joseparnau/iocjac.git' in the '~' directory.
JACGIT repository: '$ git clone https://github.com/joseparnau/jacgit.git' in the '~' directory.

Steps

$ roscore
'camaleon' PC: $ roslaunch kview_prenodes demo6_omni2bmm_kauNreal_camaleonCore_kauthSplit_camaleon.launch move:=1
KRC: Open and execute R1/Program/FRIDemo/FRIControlUp10ms with the drives ON in Automatic Mode.
Platform: Set drives ON.
'bmm' PC: $ roslaunch kview_prenodes demo6_omni2bmm_kauNreal_camaleonCore_kauthSplit_bmm.launch

PROVISIONAL - Alternatively, instead of the last step do:

'bmm' PC: $ /home/josep.a.claret/catkin_ws2/devel/lib/lwr_fril_control/friLWR_PositionControl_by_Position
'bmm' PC: $ /home/josep.a.claret/catkin_ws2/devel/lib/platform_vel_control/platform_vel_control_node

Problems

If the FRIControl program outputs any error, stop (Ctrl+C) 'bmm' ROS nodes, set LWR drives OFF, FRI->FRICLOSE and reset FRIControl. Afterwards go back to step 3.

If the program does not execute restart the motors and/or reset the security button.

It may happend (rarely - maybe while close to a singularity) that one of the LWR joint's speed is surpassed. If so, the LWR will stop. Close all programs and go back to step 2.

Caution

TO STOP TELEOPERATING MOVE THE OMNI TO ITS CENTRAL POSITION UNTIL THE BMM STOPS MOVING AND PRESS BOTH OMNI BUTTONS TO FIX IT AND STOP TELEOPERATING.

NEVER LET THE OMNI FALL AS THE BMM WILL MOVE WITHOUT CONTROL.