Bras Robot Arduino ROS2

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

image.png

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 

SO-ARM100

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

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/ 

Waveshare Serial Bus Servo Driver Board

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

Feetech FE-URT-1 

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

AREXX Intelligence Centre

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

image.png

image.png

Servomoteurs

Dynamixel XM430-W350

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

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

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