Differences

This shows you the differences between two versions of the page.

--- how_to_move_gantry [2019/06/20 19:01] – myeonggeonkim
+++ how_to_move_gantry [2019/06/21 03:01] (current) – myeonggeonkim
@@ Line 9: / Line 9: @@
-{{ mgkim:gantry_1.jpg?200 |}}
+{{ mgkim:gantry_1.jpg?600 |}}
 ===== Motivation and Audience =====
-This tutorial offers you the step-by-step method to control DASL Gantry crane with modifying Dynamixel SDK (Software Development Kit) in Windows environment.
-//
-If you are not familiar with coding, you would better study basic concept of C++ language programming before you begin this project.
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-Even though this is the first time for you to program something, you don’t have to worry.
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-Because all we need to do is using open source library that had been already built by somebody.
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-So, focus on that point as you proceed this project.
+This tutorial offers you the step-by-step method to control DASL Gantry crane with modifying Dynamixel SDK in Windows environment.
+\\
+\\
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-And ROBOTIS, the company produce Dynamixel, posted a nice manual and quick start video about Dynamixel SDK on their website.
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-You also can learn a lot by following the manual and videos.
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-Therefore, lock and load your confidence! Let’s fire this up!
 Readers of this tutorial assumes the reader has the following background and interests:
+\\
 <fc blue>
-  * Basic background of CPP
+  * Basic background of CPP \\
-  * Full understanding of dynamixel tutorial : [[dynamixel_set_up|Dynamixel tutorial]]
+  * Full understanding of Dynamixel tutorial : [[dynamixel_set_up|Dynamixel tutorial]] \\
+  * Full understanding of Modifying Dynamixel SDK code : [[dynamixel_modification|Modifying Dynamixel SDK code]]
+ \\
 </fc>
 \\
 The rest of this tutorial is presented as follows:
-  * [[how_to_move_gantry#wheel_mode|Wheel mode]]
+\\
-  * [[how_to_move_gantry#actuating_time|Control actuating time]]
+  * [[how_to_move_gantry#gantry_set_up|Gantry Set Up]] \\
-  * Programming <!- delete this line if not applicable ->
+  * [[how_to_move_gantry#moving_x_axis|Moving X axis]] \\
+  * [[how_to_move_gantry#moving_backward|Moving Backward]] \\
+  * [[how_to_move_gantry#moving_all_axis|Moving All axis]] \\
+  * [[how_to_move_gantry#go_home|How to go back home]] \\
+  * [[how_to_move_gantry#accuracy|Accuracy]] \\
   * Final Words
-==== Parts List and Sources ====
-US-based vendors to obtain material to complete this tutorial include <list relevant hyperlinks or phone numbers and addresses>.
 \\
-To complete this tutorial, you'll need the following items <!-- in table below, replace ??? with relevant information and add additional lines if necessary -->
-<!-- Alternatively create: (1) a Google XLS document that's publicly viewable and provide link; and (2) a PDF version of the Google XLS, store the PDF file in your site, and provide link to it -->
 \\
+==== Gantry Set Up ====
-^PART NAME/DESCRIPTION             ^VENDOR              ^VENDOR Number or URL       ^PRICE          ^QTY       ^
-| Smooth-on Silicone Mold Rubber   | Amazon.com         |http://www.amazon.com/Smooth-Silicone-Making-Rubber-Inc/dp/B004BNF3TK    |$23.86     | 1 |
-| <???>        d                    | <???>              | <???>                     | <???>   |  <???>   |
-| <???>         d                   | <???>              | <???>                     | <???>   |  <???>   |
-| <???>         d                   | <???>              | <???>                     | <???>   |  <???>   |
-| <???>         d                   | <???>              | <???>                     | <???>   |  <???>   |
 \\
-<!-- Replace the URL below for your Google doc -->
-Here is the [[https://docs.google.com/spreadsheets/d/1stqow-CHNPdDxXLn5IzECWAmvXnUCEAAxjnDLSSKt2Q/edit?usp=sharing | list as a Google XLS document]]
 \\
-<!-- Replace the filename with your PDF that you uploaded to your DASL Wiki tutorial page -->
+First of all, Dynamixels installed in DASL Gantry are MX-106 model. You should check control table for MX-106.
-Here is the {{:tutorialtemplategooglexlssamplepdf.pdf| list as a PDF file}}
 \\
+Here is the link. http://emanual.robotis.com/docs/en/dxl/mx/mx-106/
-==== Construction ====
-This section gives step-by-step instructions along with photos to <fill in the blank>. (If a circuit-building tutorial:) A schematic to construct <fill in the blank> is shown here <add image>. <Add hyperlink to PDF of schematic> is the Acrobat file of the same schematic.
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+You would find that there is no address or parameter difference between MX-28, Fortunately.
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-**Step 1**
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+We are going to use this power supply for Gantry because we can switch off the power when we need an emergency stop.
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-<Add photos to make step easier to understand>
+{{ mgkim:ds_18.jpg?200 |}}
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+<fc blue>
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-**Step 2**
+Just turn the switch backward for an emergency stop
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+</fc>
 \\
-<Additional steps like **Step 3**, **Step 4**, etc>
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-==== Programming ====
+The photo below is the basic structure of gantry system.
-A link to the source code can be found <provide URL to your code, probably saved in this DASL Wiki>.
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-The goal of the code is <brief explanation>.  It works in the following way
+{{ mgkim:ds_16.jpg?200 |}}
 \\
-----
+You need to measure some dimensions of this system for distance control.
-<!- Insert a snippet of your code here.  Try to keep to less than 0.5 page long -->
-----
 \\
-The snippet above serves to <fill in the blank>. It does this by <fill in the blank>.
+{{ mgkim:ds_17.jpg?200 |}}
 \\
-----
+This photo will help you to understand the system.
-<!- Insert another snippet of your code here.  Try to keep to less than 0.5 page long -->
-----
-Next, the code does <fill in the blank>.  It does this by <fill in the blank>.
-<!-- Keep entering snippets of code and descriptions until you've given enough for a reader to understand how it works -->
-//
-//
-==== Final Words ====
-This tutorial's objective was to <fill in the blank>. Complete <choose: construction details, source code and program descriptions> for <fill in the blank>. Once the concepts were conveyed the reader could <fill in the blank>.
 \\
 \\
-Speculating future work derived from this tutorial, includes <fill in the blank>. In the big picture, the problem of <fill in the blank> can be solved with this tutorial.
+==== Moving X axis ====
 \\
 \\
-For questions, clarifications, etc, Email: <paul.oh@unlv.edu>
+For moving gantry to x axis, we will use Dynanixel #1,2
+\\
+In gantry system, rotation angle of Dynamixel during sleep time will be changed to displacement of belt.
+\\
+So we need to do measurement and calculation to move gantry.
+\\
+If we know exact distance between each teeth in the belt and gear,
+\\
+we can calculate displacement of belt accurately.
+\\
+\\
+- Measurement
+\\
+\\
+G1 = 28 teeth , G2 = 14 teeth, G3 = 24 teeth
+\\
+Distance between teeth = 5mm = 0.5 cm
+\\
+dynamixel speed unit = 0.11445 rpm
+\\
+\\
+- Calculation
+\\
+\\
+{{ mgkim:ds_19.jpg?600 |}}
+{{ mgkim:ds_20.jpg?600 |}}
+\\
+\\
+Now we know sleep time we need.
+\\
+\\
+<fc blue>
+\\
+=======================================================================================================
+\\
+\\
+Exercise. Using only Gantry Dynamixel #1 and #2, make Dynamixels actuate until they reach to desired distance.
+\\
+Set the moving speed value as 200 (Gantry will not work if the moving speed is too high).
+\\
+\\
+Here is an {{https://drive.google.com/file/d/1fj95C_-Pr8NK6m9B8G-3SAEY4oNIW3Ph/view?usp=sharing|answer}}
+\\
+\\
+=======================================================================================================
+\\
+\\
+</fc>
+\\
+==== Moving Backward ====
+\\
+\\
+Problem of previous code is that gantry can not move backward.
+\\
+How can we modify code to move backward?
+\\
+\\
+Discover the method in this code.
+{{https://drive.google.com/file/d/1_2MN9d0GRw5eQWwrcQUP9LzIKec4Tt1c/view?usp=sharing|Moving backward}}
+\\
+\\
+==== Moving All axis ====
+\\
+\\
+Now you know everything to move all axis.
+\\
+<fc blue>
+\\
+=======================================================================================================
+\\
+\\
+Exercise. Move gantry along all axis.(X,Y,Z axis)
+\\
+\\
+Here is an {{https://drive.google.com/file/d/1NNSCatAnJ9nLW2lZw1tIvLvpOPigcs57/view?usp=sharing|answer}}
+\\
+\\
+=======================================================================================================
+\\
+\\
+</fc>
+\\
+\\
+==== How to go back home ====
+\\
+\\
+After moving it, gantry need to go back to home position for next use.
+\\
+If we know current position of gantry, going back to home position is easy.
+\\
+<fc blue>
+\\
+=======================================================================================================
+\\
+\\
+Exercise. Lets make it go back to home location after we move gantry.
+\\
+\\
+Here is an {{https://drive.google.com/file/d/1lJ9_IZ4xCaNBoBDNQAfajQw0aeIAMgSX/view?usp=sharing|answer}}
+\\
+\\
+=======================================================================================================
+\\
+\\
+</fc>
+\\
+\\
+==== Accuracy ====
+\\
+\\
+Now you are ready to check the accuracy of your code.
+\\
+{{ mgkim:ds_21.jpg?600 |}}
+\\
+There is a plate where the 10cm by 10cm grid is drawn.
+\\
+Try setting the origin at any intersecting point and run your code at 10cm resolution.
+\\
+If it is accurate enough, try narrowing down the resolution at 5cm.
+\\
+If not, find out the problems by yourself.
+\\
+The reason would be poor measurement or hardware out of work.
+\\
+Checking the tension of the threads would help you finding problems.
+\\
+\\
+==== Final Words ====
+For questions, clarifications, etc, Email: m.geon.kim@gmail.com