RB1000 All directional motion
RB1000 All directional motion
by Ray
Sun Oct 07, 2007 5:16 pm
It is a good news that Vstone had developed a new robot controller VS-RC003,
which is basically have similar function of Omnizero and used in RB2000.
So, I have updated my RB1000 with the followings:
1) RBS5802 Robot Servo x 6 pcs ( 17kgcm, 0.13s/60 deg)
2) New Robot Controller VS-RC003 x1
3) Digital Gyro board VS-IX001 x1
The result was satisfactory and funny:
The analog stick is very convenient.
the new controller was equipped with flowchart input as well as variables
input function which is very important to memory the previous servo position,
e.g. you can hold a box in a hand and then memorize its position., then,
e.g. a walking motion can include its previous state of the hand position.
(This is only my present understanding, not tested yet! )
My next project will use the RB2000 (RB1000 has only limited space to extend .... )
to make a 23 degree of freedom Robot.
Just waiting for the RB series Robot Gripper selling day.
edited for spell mistake.
which is basically have similar function of Omnizero and used in RB2000.
So, I have updated my RB1000 with the followings:
1) RBS5802 Robot Servo x 6 pcs ( 17kgcm, 0.13s/60 deg)
2) New Robot Controller VS-RC003 x1
3) Digital Gyro board VS-IX001 x1
The result was satisfactory and funny:
phpBB [media]
The analog stick is very convenient.
the new controller was equipped with flowchart input as well as variables
input function which is very important to memory the previous servo position,
e.g. you can hold a box in a hand and then memorize its position., then,
e.g. a walking motion can include its previous state of the hand position.
(This is only my present understanding, not tested yet! )
My next project will use the RB2000 (RB1000 has only limited space to extend .... )
to make a 23 degree of freedom Robot.
Just waiting for the RB series Robot Gripper selling day.
edited for spell mistake.
Last edited by Ray on Sat Feb 21, 2009 2:41 am, edited 1 time in total.
Very impressive maneuverability Ray. 
by Ray
Sun Oct 07, 2007 8:04 pm
Hi Chris,
In the VS-RC003 board (Version 4) , each servo output is assigned with sum of up to four variables and their corresponding gain that you can assign.
The variable can be a user defined type or a build in type, e.g. variable "244" is the feedback gain of the right horizontal analog stick from a wireless PS2 controller.Variable "133"is a a gyro-Y direction feedback!
So, in the blocks of the flow chart, some blocks are responsible for the gain of rotation, say, the yaw axis of the leg, and the robot can be rotated when coming accross this point.
In VS-RC003 (Ver.4) using Roboviemaker2, all the motions are programmed in flowchart, similar to Kondo KHR2HV.
Well, In RN, (Robot using BASIC), you can make similar motion (Although only simple one I haved made)
Even, you do not have yaw axis of the leg, you can insert a left/ right shift
during ,say, a forward walk.
you can get this idea form VStone movie of a 13 degree of robot:
http://lets-robot.com/modules/x_movie/x ... d=1&lid=65
if you play more attention, you will find, when the robot need to turn left or right, the sole are seperated more and then returned to a smaller separation. ( hope you can under my word
)
About the joystick control, I know RN has such similar extension kit:
http://www.rt-net.jp/index.php?main_pag ... cts_id=381
it is my favourity Robot Shop in Japan.
(but I don't know whether English manual is available
)
Good luck.
How does the VS-RC003 deal with the data from the analog joysticks? ie what does your communication code look like?
In the VS-RC003 board (Version 4) , each servo output is assigned with sum of up to four variables and their corresponding gain that you can assign.
The variable can be a user defined type or a build in type, e.g. variable "244" is the feedback gain of the right horizontal analog stick from a wireless PS2 controller.Variable "133"is a a gyro-Y direction feedback!
So, in the blocks of the flow chart, some blocks are responsible for the gain of rotation, say, the yaw axis of the leg, and the robot can be rotated when coming accross this point.
In VS-RC003 (Ver.4) using Roboviemaker2, all the motions are programmed in flowchart, similar to Kondo KHR2HV.
Well, In RN, (Robot using BASIC), you can make similar motion (Although only simple one I haved made)
Even, you do not have yaw axis of the leg, you can insert a left/ right shift
during ,say, a forward walk.
you can get this idea form VStone movie of a 13 degree of robot:
http://lets-robot.com/modules/x_movie/x ... d=1&lid=65
if you play more attention, you will find, when the robot need to turn left or right, the sole are seperated more and then returned to a smaller separation. ( hope you can under my word
)
About the joystick control, I know RN has such similar extension kit:
http://www.rt-net.jp/index.php?main_pag ... cts_id=381
it is my favourity Robot Shop in Japan.
(but I don't know whether English manual is available
)
Good luck.
Last edited by Ray on Tue Oct 09, 2007 11:14 am, edited 1 time in total.
