Lack of trim on KHR-1HV

[Big]

Hi all

Spent the last 4 months building my KHR-1HV.

When I get to the stage when you click on the bird and adjust the settings on the TrimDlg page I do not have enough adjustment on servos 7 and 3 to het the arms straight down by him side. Same issue with servos 19 and 13 to get the legs into the normal home starting position as shown in the manual.

I have been using the Japanese version of the manuals for the 1HV and the English versions for the 2HV. I have tried translating the various different bits in Bable fish but can find no clues to this issue.

I have spent all day trying to sort this with no joy so if any of you can point me in the direction of some useful information or a clue how to solve it I wouls very much apprechiate it.

I bet it is something really simple but I cannot see the wood for the trees !

Thanks

[Orac]

Hi,

I built the Manoi but it can't be much different to the KHR, did you centre the servos using hth before building them into the robot?

For the Manoi, the servos must be centred and then aligned into the positions shown in the manual. Trim (bird) dialog was just for very fine tuning of the position.

Make sense?

edit: also, some servos needed to be reversed in hth before it would work properly.

[tempusmaster]

When you say, "I do not have enough adjustment on servos 7 and 3 to het the arms straight down by him side." are you saying that the servos reach the end of their rotational range?

If that's the situation, then as Orac mentioned, it's probably a problem related to zeroing the servos before the mechanical assembly.

[Big]

Thanks for the help guys

I am now of the opinion that the home position is meant to have the arms out siteways so he looks like a cross. I think I know that from the holes on the aluminium bits nect to the arms that fit on the hornes. In that case tehre is enough adjustment using the bird. The bird seems to allopw about 90 degrees adjustment.

Regarding the legs I cannot get the pimple of the hrom arm to alighn with the hole even at maximum adjustment. The example of the adjustment figures confiorm that these are expected to have a large trim. If I set the angle slightly of on the servi above I can get him to stand in a fairly stable condition.

I will try the standard movement files that came on the CD this evening and find out what happens.

[tempusmaster]

I am now of the opinion that the home position is meant to have the arms out siteways so he looks like a cross. I think I know that from the holes on the aluminium bits nect to the arms that fit on the hornes.

The photo in the KHR-2HV English manual on page 48 seems to indicate that also, and says "In the condition the body is supposed to be like the right picture."

[Big]

When I set all the servos to zero it looked exactly like the picture on Page 48.

My confusion started when I turned to page 49 where the picture of the robot has his arms by his sides and they are talking of the importance of the position and showing the photo of the hole in the frame etc.

Problem now is to stop him falling over as soon as he starts to make any move and to get the KRR-1, 2 x RAS-2 and KRG3 fitted.

A good book on the subject would be most welcome. The only one I have is in Japanse and none of my Japanese speaking colleages wants to translate it !

[limor]

When I get to the stage when you click on the bird and adjust the settings on the TrimDlg page...

I think i figured out why there's a bird icon for the Trim dialogue.

Japanese word for bird is Tori.
In Japanese accent the word "Trim" would probably be pronouced "torimu" which contains the word Tori. (tempumaster?)

hence trim => torimu => tori => bird

Q.E.D.

[tempusmaster]

When I get to the stage when you click on the bird and adjust the settings on the TrimDlg page...

I think i figured out why there's a bird icon for the Trim dialogue.

Japanese word for bird is Tori.
In Japanese accent the word "Trim" would probably be pronouced "torimu" which contains the word Tori. (tempumaster?)

hence trim => torimu => tori => bird

Q.E.D.

Exactly right! Congratulations.

[Droid Works]

edit: also, some servos needed to be reversed in hth before it would work properly.

What servos need to be reversed?

[Robo1]

From reading you other post you problem droid works could be that when the servos are at zero the arms should be pointing out so that there horizontal. In the manuel it's not very clear but when the servos are all zero it shouldn't be in the standing up position.

The way what I zeroed them all in is to set the values the same as in the manual then unscrew and move the servo/joints in to the home position then fine adjust that position.

Hope this helps Bren

[Droid Works]

I zeroed them all and they are in the right position. The problem I am havening is the 2 shoulder servos only move 1/2 of the distance they are supposed to. and when I move the slider sometimes the other servos jump. Is there some setting I am missing? Also the trim doee not work at all. I am stumped.

[tempusmaster]

I zeroed them all and they are in the right position.

So, with all of them zeroed, and no trim adjustment, your robot looks like this:

Right?

The problem I am havening is the 2 shoulder servos only move 1/2 of the distance they are supposed to.

Do you mean that the shoulder servos only rotate half the range they should, or do you mean that as you move the sliders the scale factor (how far they move as the count changes) is off?

and when I move the slider sometimes the other servos jump.

That can happen at times, though you might have the servo you're trying to adjust up against its stop.

Is there some setting I am missing?

Probably, but we'll have to understand more about what you have done and are doing to figure out what the problem is.

Also the trim doee not work at all. I am stumped.

When you say it 'does not work at all', what do you mean exactly? If you can explain more specifically what's happening, or not happening, then we might be able to help.

[Droid Works]

I zeroed them all and they are in the right position.

So, with all of them zeroed, and no trim adjustment, your robot looks like this:

Right?

The problem I am havening is the 2 shoulder servos only move 1/2 of the distance they are supposed to.

Do you mean that the shoulder servos only rotate half the range they should, or do you mean that as you move the sliders the scale factor (how far they move as the count changes) is off?

and when I move the slider sometimes the other servos jump.

That can happen at times, though you might have the servo you're trying to adjust up against its stop.

Is there some setting I am missing?

Probably, but we'll have to understand more about what you have done and are doing to figure out what the problem is.

Also the trim doee not work at all. I am stumped.

When you say it 'does not work at all', what do you mean exactly? If you can explain more specifically what's happening, or not happening, then we might be able to help.

Yes it looks just like the pic. The servos will move the full range if you move them by hand. But when you use the slider it acts like there is a stop when there is none. Unpowered the arms will move from a hands raised all the way to arms pointing behind him. Powered useing the slider his arms only move from arms straight up to almost to his sides like there is a stop there but there is no stop. The software only lets me use 1/2 of his range or motion in the shoulders.

The trim does not do anything at all. I made some adjustments in the trim and nothing happened. But I was told xp sometimes has problems with the software and to try rebooting. so I will try that.

I am useing a laptop, I have all the servos set to ICS. Is there any laptop isues anyone know of and should I have the servos set for ICS or normal?

[Robo1]

Is the connection between the KHR and the laptop good. e.g. can you send the bot a motion file and will he perform it. Can you use catch and play!

Bren

[Robo1]

Is the connection between the KHR and the laptop good. e.g. can you send the bot a motion file and will he perform it. Can you use catch and play!

What version of H2H are you using.

Bren