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hardware:robotnik_rb-1 [2019/07/23 08:38] ppapadakis [Requirements] |
hardware:robotnik_rb-1 [2020/01/17 09:56] (current) ppapadakis [Uses] |
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| There are two alternatives for using the robot: | There are two alternatives for using the robot: | ||
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| (i) **Direct use** via connecting to the robot's built-in WiFi network and subsequently via an ssh connection from a terminal. In this case, there is no special requirement for using the RB-1 robot as everything is already installed on-board the RB-1 robot. | (i) **Direct use** via connecting to the robot's built-in WiFi network and subsequently via an ssh connection from a terminal. In this case, there is no special requirement for using the RB-1 robot as everything is already installed on-board the RB-1 robot. | ||
| (ii) **Indirect use** via connecting to the robot's built-in WiFi network and subsequently via a terminal of a computer that has installed ROS and required packages. | (ii) **Indirect use** via connecting to the robot's built-in WiFi network and subsequently via a terminal of a computer that has installed ROS and required packages. | ||
| - | For (i) and (ii), instructions are provided in the documentation 'RB-1-software-doc.pdf' (see Description sub-section) | + | For (i) and (ii), instructions are provided in 'How to use' sub-section |
| ===== Description ===== | ===== Description ===== | ||
| You can here give a more detailed description of the product. Include pictures and figures to explain what it looks like, how it works, etc. | You can here give a more detailed description of the product. Include pictures and figures to explain what it looks like, how it works, etc. | ||
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| + | {{:hardware:rb-1.png?400|}} | ||
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| + | The hardware configuration and contents of the robot are documented in {{ :hardware:rb-1-hardware.doc.pdf |}}. | ||
| ===== Configuration ===== | ===== Configuration ===== | ||
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| Detail here the configuration process, the different options, and how to set it up (first time or afterwards). | Detail here the configuration process, the different options, and how to set it up (first time or afterwards). | ||
| + | A quick-start document is provided {{ :hardware:rb-1-quickstart.doc.pdf |}} | ||
| ===== How to use ===== | ===== How to use ===== | ||
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| It is also recommended to add a method (of a few methods even) to test the working of the product, like demos or a specific process. | It is also recommended to add a method (of a few methods even) to test the working of the product, like demos or a specific process. | ||
| If you think a more complete tutorial is needed, please create another page for it, and link it here. | If you think a more complete tutorial is needed, please create another page for it, and link it here. | ||
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| + | A complete software documentation is provided {{ :hardware:rb-1-software.doc.pdf |}} with some annotations on the .pdf. | ||
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| + | **ATTENTION** | ||
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| + | The robot does not currently have a mechanism to safely 'park' the Kinova arm before the robot is switched off. As a result, once the robot is switched off, the arm will start falling under the influence of gravity, potentially damaging itself or anything along its path. The fall of the arm can be prevented either by teleoperating it to a safe (stable) position, or by holding it and gently moving it to a safe position **after** having it switched off. | ||
| ===== Uses ===== | ===== Uses ===== | ||
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| If possible, add internal links to the project description page (or integrate them as shown in the best practice page). | If possible, add internal links to the project description page (or integrate them as shown in the best practice page). | ||
| + | **Repairing of detached finger(s) of robotic arm** | ||
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| + | The fingers of the grippers have been designed so that if excessive force is applied on them, they do not get broken but instead they get "detached" from their tendons. To put back into place the detached fingers, one has to delicately reattach the fingers to their tendons. The instructions provided by an e-mail of the ROBOTNIK constructor are as follows: | ||
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| + | //Our support team told us the following advice: We have to insert the cotter pin into the holes (As the picture shows)// | ||
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| + | {{:hardware:image.png|}} | ||
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| + | //Shiftiness steps: | ||
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| + | 1. Close the robotic hand | ||
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| + | 2. Pull carefully the disabled finger | ||
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| + | 3. Gently with caution, with a little screwdriver, strip the part (green coloured) | ||
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| + | 4. Insert one by one the cotter pin into the holes (as the blue arrow shows) | ||
| + | // | ||
| ===== External links ===== | ===== External links ===== | ||
| - | * https://github.com/RobotnikAutomation | + | * https://github.com/RobotnikAutomation/rb1_common |