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Bobik
Honza Slesinger edited this page Sep 18, 2017
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Along with progress on building and improving Robik's functions, sometimes it pops up that earlier design lacks certain capabilities. Design issues that can be fixed in the existing setup are fixed but there are also issues that requires significant changes. This document targets to gather requirements on new complete rebuild - a major version: 2
See wiki in Bobik repository
7DoF + Gripper
Caster prefixes fr_, fl_, br_, bl_
Arm prefixes r_, l_
Joint is fixed or movable joint. Each joint has to be actuated by commands and each movable joint must provide readings.
| Name | From Link | To Link | Type | Actuator | Sensor |
|---|---|---|---|---|---|
| *_wheel_joint | base_link | *_caster_rotation_link | ? | motor LM293 | direct hall |
| *_caster_rotation_joint | *_caster_rotation_link | ? | ? | abs/rel encoder | |
| torso_lift_joint | base_link | torso_lift_link | ? | motor LM293 | |
| head_pan_joint | torso_lift_link | head_pan_link | ? | servo 13kg | |
| head_tilt_joint | head_pan_link | head_tilt_link | ? | servo 13kg | |
| *_shoulder_pan_joint | torso_lift_link | *_shoulder_pan_link | ? | motor LM293 | direct hall |
| *_shoulder_lift_joint | *_shoulder_pan_link | *_shoulder_lift_link | ? | motor LM293 | direct hall |
| *_upper_arm_roll_joint | *_shoulder_lift_link | *_upper_arm_roll_link | ? | motor LM293 | direct hall |
| *_elbow_flex_joint | *_upper_arm_roll_link | *_elbow_flex_link | ? | motor LM293 | direct hall |
| *_forearm_roll_joint | *_elbow_flex_link | *_forearm_roll_link | ? | motor LM293 | direct hall |
| *_wrist_flex_joint | *_forearm_roll_link | *_wrist_flex_link | ? | servo 13kg | inner pot? |
| *_wrist_roll_joint | *_wrist_flex_link | *_wrist_roll_link | ? | ? | inner pot |
| *_gripper_joint | *_wrist_roll_link | *_fingers | ? | servo 13kg+transm |
Sensors complement joints
| Sensor Name | module | connected to | conn. type | command freq | read freq | data size |
|---|---|---|---|---|---|---|
| base_laser | base | base MCU | serTTL>USB | 5Hz | 1980B | |
| dock_camera | base | base MCU | i2c | 100Hz | 324B | |
| finger_front_touch | r_arm | r_arm MCU | TTL | >10ms | byte | |
| finger_rear_touch | r_arm | r_arm MCU | TTL | >10ms | byte | |
| head_light | head | base MCU | TTL | >200ms | byte | |
| motion_front | head | base MCU | TTL | >200ms | byte | |
| camera_oko | r_arm | main comp | USB | 20Hz | 0.7Mbps | |
| feedback_{positive and negative} | control | main comp nebo ardu | GPIO | > 10Hz | byte |