View source for Robotics lab resources

This page contains information regarding the lab classes of the undergrad course Robotics at [http://www.ist.utl.pt Instituto Superior Técnico]. This is NOT the course official page (which can be found [https://fenix.ist.utl.pt/cursos/meec/paginas-de-disciplinas here] looking up for ''Robótica'').

== ROB3/TR5 robotic arm ==

[[Image:Tr5.png|300px|thumb|TR5 robotic arm (5DOF)]]

=== Interface with MATLAB ===

The latest version of the software (developed in house) can be found here: [[Media:Matlab rob3 tr5-May2010.zip|Matlab_rob3_tr5-May2010.zip]]

API descripton:

; serial_port_start(): initializes the serial port, returning an object referencing it
In the following functions, the argument ''sp'' corresponds to this serial port object.
; rob3_init(sp): initializes the arm, returning a (meaningless) integer
; rob3_move_joint(sp,n,x): moves joint ''n'' to angular position ''x''
; rob3_move_joints(sp,v): moves all 6 joints to the positions defined by the vector ''v'' (1x6)
; rob3_read_joint(sp,n): reads the angular position of joint ''n'', returning a vector [64+joint-1, position, 3]
; rob3_read_joints(sp): reads the angular position of all joints, returning a vector [71, position_1, ..., position_6, 3]

Functions '''rob3_move_joint_with_speed''' and '''rob3_move_joints_with_speed''' are similar to the ones above without the '''_with_speed''' part, except that these take an extra argument corresponding to the speed(s) of the joints.

=== Hardware repair ===

There are two common hardware problems with these arms, which can easly be repaired (''by the lab technical staff only!''). The MATLAB function '''rob3_selftest''' facilitates diagnosics by moving all joints in sequence.

One concerns the failure of the power drivers, an H-bridge with a small heatsink glued on top of it. The arm has three of these chips, which model is '''L293''' ([[Media:L293b.pdf|datasheet]]). To diagnose this problem, switch the connectors of two joints to locate the problematic chip.

Another one concerns the failure of a voltage inverter, responsible for providing a negative voltage for the RS232 drivers. The chip is the '''7660''' ([[Media:ICL7660-MAX1044.pdf|datasheet]]). To diagnose this problem check whether the voltage at '''pin 5''' is negative: in normal operation '''pin 8''' reads about '''8V''', while '''pin 5''' reads about '''-8V'''.

== Pioneer III DXe mobile robot ==

[[Image:PioneerP3 Image1b.jpg|thumb|Pioneer P3DX mobile robot]]

The three Pioneer robots at the lab are configured with the following settings:
* BAUD rate: 115200
* SIP periot: 100ms

'''DO NOT change these settings without express consent of the course lecturers!'''

These parameters must be in sync with the ones in the MATLAB interface. Long serial cables, as well as USB-serial interfaces are available at the lab upon request.

=== Interface with ROS ===

The [http://www.ros.org/wiki/p2os p2os stack] provides the driver supporting any robot that uses either P2OS or ARCOS firmware, including the Pioneer 3DX. 

=== Interface with MATLAB ===

The latest version of the software (developed in house) can be found here: 
* [[Media:Matlab pioneer-May2010.zip|Matlab_pioneer-May2010.zip]] -- Version for SIP cycle of 100ms and BAUD rate 115K


API descripton: 

; serial_port_start(): initializes the serial port, returning an object referencing it
In the following functions, the argument ''sp'' corresponds to this serial port object.
; pioneer_init(sp): initializes the robot, including enabling the sonar ring
; pioneer_set_controls(sp,v,&omega;): moves the robot with linear velocity ''v'' and angular velocity ''&omega;''
; pioneer_set_heading(sp,&theta;): rotates robot until heading &theta; w.r.t. odometry
; pioneer_set_translation(sp,d): moves robot in a straght line ''x'' units
; pioneer_read_odometry(): returns a vector with the three components of the robot pose
; pioneer_read_sonars(): returns a vector of sonar readings
; pioneer_close(sp): closes robot communication, including disabling the sonar ring

== Hokuyo URG-04LX-UG01 Laser Range Finder ==

[[Image:Urg 04lx ug01 top.jpeg|300px|thumb|Hokuyo URG-04LX-UG01]]

=== Driver for ROS ===

The [http://www.ros.org/wiki/laser_drivers laser_drivers stack] contains drivers for laser rangefinders, including Hokuyo SCIP 2.0-compliant, including the Hokuyo URG-04LX-UG01, as well as the SICK models.

=== Driver for MATLAB ===

== Floor map ==

* [[Media:Piso005.png|High-resolution map of the 5th floor of the North Tower]]