Bras Robot Arduino ROS2

• Projet d'origine
• Pilotage des servomoteurs : TTL, RS232, RS485
• SO-ARM100

Projet d'origine

https://github.com/AntoBrandi/Robotics-and-ROS-2-Learn-by-Doing-Manipulators 

Pilotage des servomoteurs : TTL, RS232, RS485

https://esp32io.com/tutorials/esp32-rs485 

Modèles fermés

Niryo Ned 2

https://niryo.com/fr/produit/bras-robotise-6-axes/ 

https://github.com/NiryoRobotics 

DAGU Six-servo Robot Arm

• 5DOF Manipulateur + 1DOF Pince
• 6 servos
  • 3x 13 kg.cm torque metal gear, 40.4 * 19.8 * 36 mm, 48g, 0.22s/60°
  • 1x 3.2 kg.cm, 39.5 x20.0x35.5mm, 41g, 0.27s/60°
  • 2x 2.3 kg.cm, 28 x14x29.8mm, 18g, 0.13/60°
• Carte de contrôle AREXX Intelligence Centre

https://seafile.unistra.fr/d/693101e6046d4819a3af/ 

https://arexx.com/product/robot-arm/ 

www.arexx.com.cn 

Modèles Open Source

Open Manipulator-X

https://emanual.robotis.com/docs/en/platform/openmanipulator_x/specification/#specification 

• 5 DOF Manipulateur + 1 DOF Pince
• 6x Dynamixel XM430-W350 https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/ 
• Carte de contrôle Robotis OpenCR1.0 https://emanual.robotis.com/docs/en/parts/controller/opencr10/ 
  

SO-ARM100

https://github.com/TheRobotStudio/SO-ARM100 

• 5 DOF Manipulateur + 1 DOF Pince
• 6 servos Feetech STS3215 https://www.feetechrc.com/en/2020-05-13_56655.html 
  
• Waveshare Serial Bus Servo Driver Board https://www.waveshare.com/wiki/Bus_Servo_Adapter_(A) 
• OU
• Feetech FE-URT-1 https://www.feetechrc.com/FE-URT1-C001.html 

https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md 

https://medium.com/@sarohapranav/my-experiences-and-tips-for-creating-a-robotic-so100-arm-3df779a4aae7 

https://github.com/JafarAbdi/ros2_so_arm100 

Cartes de contrôle

OpenCR1.0

https://emanual.robotis.com/docs/en/parts/controller/opencr10/ 

• STM32F746ZGT6 / 32-bit ARM Cortex®-M7 with FPU (216MHz, 462DMIPS)
  Reference Manual, Datasheet
• Programmer : ARM Cortex 10pin JTAG/SWD connector
  USB Device Firmware Upgrade (DFU)
  Serial
• Digital I/O
  
  • 32 pins (L 14, R 18) *Arduino connectivity
  • 5Pin OLLO x 4 
  • GPIO x 18 pins 
  • PWM x 6
  • I2C x 1
  • SPI x 1
• Communication Ports
  • USB x 1 (Micro-B USB connector/USB 2.0/Host/Peripheral/OTG)
  • TTL x 3 (B3B-EH-A / DYNAMIXEL)
  • RS485 x 3 (B4B-EH-A / DYNAMIXEL) 
  • UART x 2 (20010WS-04)
  • CAN x 1 (20010WS-04)

Waveshare Serial Bus Servo Driver Board

 https://www.waveshare.com/wiki/Bus_Servo_Adapter_(A) 

• Supports connecting to a host or MCU 
• up to 253 ST/SC series serial bus servos
• RS485
• UART pour contrôle depuis Arduino, ESP32, STM32 (RX-RX, TX-TX)
• USB pour contrôle via Raspberry, Jetson ou PC
• 9~12.6V voltage input (the input voltage and the servo voltage must be matched)

Feetech FE-URT-1 

https://www.feetechrc.com/FE-URT1-C001.html 

AREXX Intelligence Centre

https://seafile.unistra.fr/d/693101e6046d4819a3af/ 

• atmega168 MCU
• RS232
• default baud rate is 115.2k
• Wifi wireless control reserve the ISP downloaded, you can download the MCU controller program using the STK500 ISP cable

• dual - Power Supply
  • 6 ~ 12 V SCM power
  • 4.8 ~ 6 V, 1.2A servo motor power [servo motor power supply Road 1-16 respectively, a 17-32 road supply port])

Servomoteurs

Dynamixel XM430-W350

https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/ 

• 4.1 [N.m] (at 12.0 [V], 2.3 [A])
• 46 [rev/min] (at 12.0 [V])
• 10.0 ~ 14.8 [V]
• Operating Modes
  • Current Control Mode
  • Velocity Control Mode
  • Position Control Mode (0 ~ 360 [°])
  • Extended Position Control Mode (Multi-turn)
  • Current-based Position Control Mode
  • PWM Control Mode (Voltage Control Mode)
• baud rate 9,600 [bps] ~ 4.5 [Mbps]
• TTL Half Duplex Asynchronous Serial Communication with 8bit, 1stop, No Parity
• RS485 Asynchronous Serial Communication with 8bit, 1stop, No Parity

Feetech STS3215

https://www.feetechrc.com/en/2020-05-13_56655.html 

SO-ARM100

LeRobot sur Ubuntu

La carte fournie par Feetech n'est pas détectée à cause d'un conflit avec un paquet de brail. On le désinstalle :

sudo apt-get autoremove brltty

https://askubuntu.com/questions/1321442/how-to-look-for-ch340-usb-drivers/1472246#1472246 

ROS2

• Cloner la paquet dans un workspace https://github.com/JafarAbdi/ros2_so_arm100 
  
• Cloner le submodule  https://www.freecodecamp.org/news/how-to-use-git-submodules/ 
  

cd src/ros2_so_arm100/
git submodule init
git submodule update

Ce qui viendra cloner https://github.com/TheRobotStudio/SO-ARM100 dans so_arm100_description/SO-ARM100