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Merged
merged 9 commits into from
Nov 20, 2024
Merged

neckmk3_2joints experimental setup #689

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45a1cc2
adding files
SanLordKevin Nov 7, 2024
b4f24cc
files for the neck setup
SanLordKevin Nov 15, 2024
4839334
renaimng and adding files for setup movements
SanLordKevin Nov 19, 2024
7cf8941
file and code ordering
SanLordKevin Nov 19, 2024
629a91c
updated readme and assets
SanLordKevin Nov 20, 2024
9c3a771
Update experimentalSetups/neckmk3_2joints/README.md
SanLordKevin Nov 20, 2024
86d65dc
Update experimentalSetups/neckmk3_2joints/README.md
SanLordKevin Nov 20, 2024
5296bef
Update experimentalSetups/neckmk3_2joints/README.md
SanLordKevin Nov 20, 2024
63ccd20
better layout
SanLordKevin Nov 20, 2024
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15 changes: 15 additions & 0 deletions experimentalSetups/neckmk3_2joints/README.md
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2 Joints Neck Setup
===================

This setup is a prototype of the neck that will be mounted on `iCub` and `ergoCub`.
It consists of two motors and can be actuated using `yarprobotinterface` and `yarpmotorgui`.
One motor is controlled by an `amc` board and the other by an `amcbldc` board.
All the parameters to move the setup are in the configuration files.

### Picture of the setup

| |
| :---: |
| ![](assets/neck_setup.jpg) |
| **Figure 1** Setup view |

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47 changes: 47 additions & 0 deletions experimentalSetups/neckmk3_2joints/calibrators/neck-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="neck-calibrator" type="parametricCalibratorEth">

<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 2 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Neckmk3_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 0 0 </param>
<param name="velocityHome"> 10 10 </param>
</group>

<group name="CALIBRATION">
<param name="calibrationType"> 12 12 </param>

<param name="calibration1"> 36439 48191 </param>
<param name="calibration2"> 0 0 </param>
<param name="calibration3"> 0 0 </param>
<param name="calibration4"> 0 0 </param>
<param name="calibration5"> 0 0 </param>
<param name="calibrationZero"> 0 0 </param>
<param name="calibrationDelta"> 0 0 </param>

<param name="startupPosition"> 0.0 0.0 </param>
<param name="startupVelocity"> 10.0 10.0 </param>
<param name="startupMaxPwm"> 16000 16000 </param>
<param name="startupPosThreshold"> 2 2 </param>
</group>

<param name="CALIB_ORDER"> (0) (1) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target"> neck-mc_remapper </param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target"> neck-mc_remapper </param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
2 changes: 2 additions & 0 deletions experimentalSetups/neckmk3_2joints/firmwareupdater.ini
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[DRIVERS]
ETH "eth"
11 changes: 11 additions & 0 deletions experimentalSetups/neckmk3_2joints/general.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="neckmk3" build="1">

<group name="GENERAL">
<param name="skipCalibration"> false </param>
<param name="useRawEncoderData"> false </param>
<param name="verbose"> false </param>
</group>
</params>
40 changes: 40 additions & 0 deletions experimentalSetups/neckmk3_2joints/hardware/electronics/neck-eb2-j0_1-eln.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="new_neck" build="1">

<xi:include href="./pc104.xml" />

<group name="ETH_BOARD">

<group name="ETH_BOARD_PROPERTIES">
<param name="IpAddress"> 10.0.1.1 </param>
<param name="IpPort"> 12345 </param>
<param name="Type"> amc </param>
<param name="maxSizeRXpacket"> 768 </param>
<param name="maxSizeROP"> 384 </param>
</group>

<group name="ETH_BOARD_SETTINGS">
<param name="Name"> "neck-eb2-j0_2" </param>
<group name="RUNNINGMODE">
<param name="period"> 1000 </param>
<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

<group name="ETH_BOARD_ACTIONS">
<group name="MONITOR_ITS_PRESENCE">
<param name="enabled"> true </param>
<param name="timeout"> 0.020 </param>
<param name="periodOfMissingReport"> 60.0 </param>
</group>
</group>

</group>

</params>

14 changes: 14 additions & 0 deletions experimentalSetups/neckmk3_2joints/hardware/electronics/pc104.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="new_neck" build="1">

<group name="PC104">
<param name="PC104IpAddress"> 10.0.1.104 </param>
<param name="PC104IpPort"> 12345 </param>
<param name="PC104TXrate"> 1 </param>
<param name="PC104RXrate"> 5 </param>
</group>

</params>

93 changes: 93 additions & 0 deletions experimentalSetups/neckmk3_2joints/hardware/mechanicals/neck-eb2-j0_1-mec.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="new_neck" build="1">
<group name="GENERAL">
<param name="MotioncontrolVersion"> 6 </param>
<param name="Joints"> 2 </param>
<param name="AxisMap"> 0 1 </param>
<param name="AxisName"> "neck_pitch" "neck_roll" </param>
<param name="AxisType"> "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> +100 +100 </param>
<param name="Gearbox_E2J"> 1 1 </param>
<param name="useMotorSpeedFbk"> 0 0 </param>
<param name="MotorType"> "FAULHABER" "FAULHABER" </param>
<param name="Verbose"> 0 0 </param>
</group>

<group name="LIMITS">
<param name="hardwareJntPosMax"> +22 +20 </param>
<param name="hardwareJntPosMin"> -30 -20 </param>
<param name="rotorPosMin"> 0 0 </param>
<param name="rotorPosMax"> 0 0 </param>
</group>

<group name="AMCBLDC">
<param name="HasHallSensor"> 1 1 </param>
<param name="TemperatureSensorType"> NONE NONE </param>
<param name="HasRotorEncoder"> 0 0 </param>
<param name="HasRotorEncoderIndex"> 0 0 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
<param name="RotorIndexOffset"> 0 0 </param>
<param name="MotorPoles"> 14 14 </param>
</group>

<group name="ADVFOC">
<param name="Verbose"> 0 0 </param>
<param name="AutoCalibration"> 0 0 </param>
<param name="HasHallSensor"> 1 1 </param>
<param name="TemperatureSensorType"> NONE NONE </param>
<param name="HasRotorEncoder"> 0 0 </param>
<param name="HasRotorEncoderIndex"> 0 0 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
<param name="RotorIndexOffset"> 0 0 </param>
<param name="MotorPoles"> 14 14 </param>
</group>


<group name="COUPLINGS">

<param name ="matrixJ2M">
1.0 0.0 0.0 0.0
0.0 1.0 0.0 0.0
0.0 0.0 1.0 0.0
0.0 0.0 0.0 1.0
</param>

<param name ="matrixM2J">
1.0 0.0 0.0 0.0
0.0 1.0 0.0 0.0
0.0 0.0 1.0 0.0
0.0 0.0 0.0 1.0
</param>

<param name ="matrixE2J">
1.00 0.00 0.00 0.00 0.00 0.00
0.00 1.00 0.00 0.00 0.00 0.00
0.00 0.00 1.00 0.00 0.00 0.00
0.00 0.00 0.00 1.00 0.00 0.00
</param>

</group>

<group name="JOINTSET_CFG">
<param name= "numberofsets"> 2 </param>
<group name="JOINTSET_0">
<param name="listofjoints"> 0 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
<group name="JOINTSET_1">
<param name="listofjoints"> 1 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
</group>

</params>

102 changes: 102 additions & 0 deletions experimentalSetups/neckmk3_2joints/hardware/motorControl/neck-eb2-j0_1-mc.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="neck-eb2-j0_1-mc" type="embObjMotionControl">

<xi:include href="../../general.xml" />
<xi:include href="../../hardware/electronics/neck-eb2-j0_1-eln.xml" />
<xi:include href="../../hardware/mechanicals/neck-eb2-j0_1-mec.xml" />
<xi:include href="./neck-eb2-j0_1-mc_service.xml" />

<!-- joint number 0 1 -->
<!-- joint name neck-pitch neck-roll -->
<group name="LIMITS">
<param name="jntPosMax"> +20 +18 </param> <!-- using mechanical limits -2 -->
<param name="jntPosMin"> -28 -18 </param>
<param name="jntVelMax"> 50 50 </param>
<param name="motorNominalCurrents"> 1000 1000 </param>
<param name="motorPeakCurrents"> 2000 2000 </param>
<param name="motorOverloadCurrents"> 2100 2100 </param>
<param name="motorPwmLimit"> 16000 16000 </param>
</group>

<group name="TIMEOUTS">
<param name="velocity"> 100 100 </param>
</group>

<group name="IMPEDANCE">
<param name="stiffness"> 0 0 </param>
<param name="damping"> 0 0 </param>
</group>

<group name="CONTROLS">
<param name="positionControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="velocityControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="mixedControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="torqueControl"> none none </param>
<param name="currentPid"> 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL </param>
<param name="speedPid"> 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL </param>
</group>


<!-- default position PID: begin -->

<group name="POS_PID_DEFAULT">
<param name="controlLaw"> minjerk </param>
<param name="outputType"> current </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> +100 +100 </param>
<param name="kd"> +12 +12 </param>
<param name="ki"> +80 +80 </param>
<param name="maxOutput"> 500 500 </param>
<param name="maxInt"> 200 200 </param>
<param name="stictionUp"> 0 0 </param>
<param name="stictionDown"> 0 0 </param>
<param name="kff"> 0 0 </param>
</group>

<!-- default position PID: end -->


<!-- other default PIDs: begin -->

<group name="2FOC_CUR_CONTROL">
<param name="controlLaw"> low_lev_current </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 0.03 0.03 </param>
<param name="kd"> 0 0 </param>
<param name="ki"> 82 82 </param>
<param name="shift"> 0 0 </param>
<param name="maxOutput"> 16000 16000 </param>
<param name="maxInt"> 32000 32000 </param>
<param name="kff"> 0 0 </param>
</group>

<group name="2FOC_VEL_CONTROL">
<param name="controlLaw"> low_lev_speed </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kff"> 0 0 </param>
<param name="kp"> 12 12 </param>
<param name="kd"> 0 0 </param>
<param name="ki"> 16 16 </param>
<param name="shift"> 10 10 </param>
<param name="maxOutput"> 32000 32000 </param>
<param name="maxInt"> 32000 32000 </param>
</group>

<!-- other default PIDs: end -->


<!-- custom PIDs: begin -->

<!-- custom PIDs: end -->

<group name="OTHER_CONTROL_PARAMETERS">
<param name="deadZone"> 0.0495 0.0495 </param>
</group>

</device>
59 changes: 59 additions & 0 deletions experimentalSetups/neckmk3_2joints/hardware/motorControl/neck-eb2-j0_1-mc_service.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="new_neck" build="1">

<group name="SERVICE">

<param name="type"> eomn_serv_MC_advfoc </param>

<group name="PROPERTIES">

<group name="ETHBOARD">
<param name="type"> amc </param>
</group>

<group name="CANBOARDS">
<param name="type"> amc2c amcbldc </param>
<group name="PROTOCOL">
<param name="major"> 2 2 </param>
<param name="minor"> 0 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 3 2 </param>
<param name="minor"> 1 1 </param>
<param name="build"> 0 0 </param>
</group>
</group>

<group name="JOINTMAPPING">

<group name="ACTUATOR">
<param name="type"> advfoc advfoc </param>
<param name="onboard"> amc2c amcbldc </param>
<param name="port"> ICC1:3 CAN1:1 </param>
</group>

<group name="ENCODER1">
<param name="type"> aea3 aea3 </param>
<param name="port"> CONN:J5_X1 CONN:J5_X2 </param>
<param name="position"> atjoint atjoint </param>
<param name="resolution"> 16384 16384 </param>
<param name="tolerance"> 0.4 0.4 </param>
</group>

<group name="ENCODER2">
<param name="type"> none none </param>
<param name="port"> CAN1:1:0 CAN1:2:0 </param>
<param name="position"> atmotor atmotor </param>
<param name="resolution"> 0 0 </param>
<param name="tolerance"> 0 0 </param>
</group>

</group>

</group>

</group>

</params>
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