RoboSavvy Forum

Master-slave suit for KHR-1HV

2009-09-16T07:04:29+01:00

rodmanLT wrote:
I had a problem with accidental loss of connection- robot stopped responding to commands without any reason from time to time. Fuminori Yamasaki adviced me to put delays between commands. It helped.

I think it's because RCB controller can not deal with continious heavy data stream. Every controller has serial buffer, and it looses serial data when buffer overflows. Looks exactly like your situation... And we can not do much about it.

Thank you so much for the information, rodmanLT. You've been really helpful
Great project, by the way. Can't wait to see more!

Statistics: Posted by matsunardi — Wed Sep 16, 2009 7:04 am

Master-slave suit for KHR-1HV

2009-09-16T06:40:47+01:00

I had a problem with accidental loss of connection- robot stopped responding to commands without any reason from time to time. Fuminori Yamasaki adviced me to put delays between commands. It helped.

I think it's because RCB controller can not deal with continious heavy data stream. Every controller has serial buffer, and it looses serial data when buffer overflows. Looks exactly like your situation... And we can not do much about it.

Statistics: Posted by rodmanLT — Wed Sep 16, 2009 6:40 am

Master-slave suit for KHR-1HV

2009-09-15T21:13:47+01:00

rodmanLT wrote:
Try to set 10ms pause between each command. It may help.
Try to use another PC, another operating system.

Thanks rodmanLT!
the 10ms helped; now it runs relatively smoothly most of the time. Sometimes it still has pauses but relatively short, although sometime some of the position data seem to be completely skipped (not executed).

Do you have an idea where the 10ms come from? (e.g. RCB-1 clock, serial communication speed, etc?)

Statistics: Posted by matsunardi — Tue Sep 15, 2009 9:13 pm

Master-slave suit for KHR-1HV

2009-09-12T06:29:12+01:00

Try to set 10ms pause between each command. It may help.
Try to use another PC, another operating system.

Statistics: Posted by rodmanLT — Sat Sep 12, 2009 6:29 am

Master-slave suit for KHR-1HV

2009-09-11T23:47:55+01:00

Wow, the response is very good!

I'm having trouble with my KHR-1 when I'm feeding the motion data (series of servo positions) directly from PC; there are short pauses in the motion once in a while.
I wonder if you have any idea to get rid of the random pauses?

Statistics: Posted by matsunardi — Fri Sep 11, 2009 11:47 pm

Master-slave suit for KHR-1HV

2009-09-08T16:20:18+01:00

Engadget has come across this thread.
Love their sense of humor

Statistics: Posted by limor — Tue Sep 08, 2009 4:20 pm

Master-slave suit for KHR-1HV

2009-09-08T06:57:54+01:00

Found it, thanks!

Statistics: Posted by veltrop — Tue Sep 08, 2009 6:57 am

Master-slave suit for KHR-1HV

2009-09-07T19:17:54+01:00

I'm using command
SETUP OF THE SPEED OF MOVEMENT
which is second command on page 20 of the RCB3 Command Reference
(I forgot the link to this document, hope you will find it)

Statistics: Posted by rodmanLT — Mon Sep 07, 2009 7:17 pm

Master-slave suit for KHR-1HV

2009-09-07T03:02:46+01:00

rodmanLT wrote:
By the way, i have managed to get rid of robot's terrible lag. Mr Fuminori Yamasaki from IXS Research Corp adviced me to use another command. Now robot responds very quickly

That's great! What's the other command you are using now?

Statistics: Posted by veltrop — Mon Sep 07, 2009 3:02 am

Master-slave suit for KHR-1HV

2009-09-05T15:16:42+01:00

..sounds good, with capturing...

i will get on friday, this week, my kondo KHR-3hv...with all the 22 DOF...
and i would like to use my "PEAVY 1600x" midi slider board, to control the robot...í´am just using this slider board for computer animation...

i think the way is nearly the same, like your good work...

but i´am not shure if it works....Heart2Heart 4.0 with midi and capturing...

maybe, do you have a good idea!!??

Statistics: Posted by silveranim — Sat Sep 05, 2009 3:16 pm

Master-slave suit for KHR-1HV

2009-09-05T06:05:28+01:00

Yes, I will try to make full body suit.

Statistics: Posted by rodmanLT — Sat Sep 05, 2009 6:05 am

Master-slave suit for KHR-1HV

2009-09-04T21:35:37+01:00

Looks really good.

I'm impressed by how fast the robot responds to your movement. good work. Have you any plans to get this working on the legs.

Bren

Statistics: Posted by Robo1 — Fri Sep 04, 2009 9:35 pm

Master-slave suit for KHR-1HV

2009-09-04T21:24:32+01:00

Motion capturing is not a problem at all. Instead of sending all servo positions straight after capturing potentiometers values, we need just to memorize positions in the eeprom (for example) or somewhere else. Later on we can playback this sequence on request. I don't see any problems here.

By the way, i have managed to get rid of robot's terrible lag. Mr Fuminori Yamasaki from IXS Research Corp adviced me to use another command. Now robot responds very quickly:

phpBB [media]

Statistics: Posted by rodmanLT — Fri Sep 04, 2009 9:24 pm

Master-slave suit for KHR-1HV

2009-09-04T12:49:31+01:00

...it looks cool...

it´s possible for you to capture your moves??
and play it again..?

thanks

Statistics: Posted by silveranim — Fri Sep 04, 2009 12:49 pm

Master-slave suit for KHR-1HV

2009-08-22T12:54:21+01:00

Hi all,

sorry for the delay, I was very busy...
Here is the last video:
http://www.youtube.com/watch?v=WCTvggKuPvU

phpBB [media]

Controller is AVR mega8 with inverter uC for inverted Kondo uart.
Potentiometers were bought from ebay, single turn, 10kohm.
I can post entire program in bascom later.

You can find some photos of the board and joints here:
http://blog.elektronika.lt/robotai/humanoidas/

Response is very good with 2 joints, but when I add 4 more, robot starts to lag. I think it's because of bandwith limitation. I send same commands like you move single servo sliders in HTH3.
Command looks like this in hex: 0D FE 00 01 01 40 1E 5E
0D is "start" . after this RCB3 sends me back 0D if ready.
FE is "command"
00 is "option"
01 is "channel"
01 is "speed"
40 is "position high byte"
1E is "position low byte"
5E is "checksum"

checksum is (FE+00+01+01+40+1E)AND FF

Here is the program for one axis (BascomAVR compiler):
Axis(4) = Getadc(3)
I = 4
Position(i) = Axis(i) - Offset(i)
If Position(i) < 0 Then Position(i) = 1
Position(i) = 16384 - Position(i)
Pos_h(i) = High(position(i))
Pos_l(i) = Low(position(i))
Temp = &HFE + Channel(i)
Temp = Temp + Speed
Temp = Temp + Pos_h(i)
Temp = Temp + Pos_l(i)
Temp = Temp And &HFF
Sum = Temp
Printbin #1 , &H0D
Inputbin #1 , Ready
Printbin #1 , Command ; Opt ; Channel(i) ; 1 ; Speed ; Pos_h(i) ; 1 ; Pos_l(i) ; 1 ; Sum

Channel(i) ; 1 means send 1 byte from array starting at index i.
Pos_h(i) ; 1 is the same

Offsets are used to put robot's joints always to the same starting position. With the suit on, you stand still and press the "calibrate" button. This moves robot to home position and sets "virtual" zero position for all potentiometers.

Statistics: Posted by rodmanLT — Sat Aug 22, 2009 12:54 pm