KHIII-Gripper - K
Contents
1. User manual K Tea MN gt Version 1 0 APRIL 2010 MOBIL ER OBO Tres KheperallI Gripper User Manual rev 1 0 Documentation Author Frederic Lambercy K Team S A Rue Galilee 9 Y Park 1400 Yverdon les Bains Switzerland Email Url LEGAL NOTICE e The contents of this manual are subject to change without notice e All efforts have been made to ensure the accuracy of the content of this manual However should any error be detected please inform K Team e The above notwithstanding K Team can assume no responsibility for any error in this manual KheperallI Gripper User Manual rev 1 0 3 TABLE OF CONTENTS KheperallI Gripper User Manual rev 1 0 4 1 INTRODUCTION e The hardware of the Kheperalll is based on a modular concept The gripper is a turret that can be plugged on the robot only if a KoreBotlII is already plugged Due to the configuration of the gripper other turrets can be plugged on the top of it such as a KoreUSBCam a KoreLRF a KorelIO etc The Gripper was designed to carry objects with different size and weight there s no minimal limit as the gripper can apply a continuous torque even if the object is very thin The maximum size and weight are respectively 50mm and 50g The KheperalIlI Gripper is equipped with a Li Pol Battery to keep the autonomy of the KheperallI Robot as the same level as without an extension The voltage and the remaining capacity are managed by the microcontrolle2. 0x3F Distance measured by the left sensor 0x40 041 Distance measured by the right sensor 0x42 Object detection 0 no object 0x43 On Target flag 0x44 w Search Limit flag Set it to start a research 0x45 eda Mechanical limit of the gripper max opening Table 4 2 Register summary of the Gripper microcontroller KheperallI Gripper User Manual rev 1 0 24 4 4 Software example Here s a small example of software controlling the Gripper Once this example is compiled and executed on your Kheperalll the gripper will open its fingers move to the ground position and wait that an object is detected by the optical barrier As soon as the object is between the two fingers the gripper will grab it move to the high position and print the resistivity value of the object et file kgripper_small_ex c Khepera3 Gripper small example software brief This is an small application which control the gripper to grip an object author Frederic Lambercy K Team SA note Copyright C 2010 K TEAM SA bug none discovered todo nothing include lt korebot korebot h gt handle to the various Gripper devices knet socket i2c mode ii static knet_dev_t Arm static knet_dev_t Gripper int main int arc char argv unsigned short Min Position Max Position Datal6 Init the Gripper library kgripper_init open the both
3. 2 Safety precautions Here are some recommendations on how to correctly use the KheperallI Gripper 1 3 Keep the gripper away from wet area Contact with water could cause malfunction and or breakdown Don t force mechanical movement of the gripper Movements of the gripper mechanical parts have to be controlled ONLY by software Forcing arm or gripper open or closed movements can damage the mechanical parts of the gripper Store your gripper in a stable position This will avoid the risks of falls which could break it or cause damage to a person Use only the official charger which is delivered with the KheperallII robot Do not try to use another charger this can cause irreversible damage to the battery Do not plug or remove the gripper while the robot is powered on To avoid any damage make all connections when the robot power is off Never leave the KheperallII and the Gripper powered when it is unused When you have finished working with KheperallI turn it off It will save the battery life Recycling Think about the end of life of your robot Parts of the robot can be recycled and it is important to do so It is for instance important to keep batteries out of the solid waste stream When you throw away a battery it eventually ends up in a landfill or municipal incinerator These batteries which contain Lithium Polymer can contribute to the toxicity levels of landfills or incinerator ash By recycling the batteries throu
4. Return 1 if the gripper has reached its position order and 0 if not Parameter unsigned char kgripper_Gripper_Object_Detected Gripper Read the state of the optical barrier to know if an object is between the two fingers Return 1 if the gripper has detected an object and 0 if not Parameter unsigned char kgripper_Gripper_Get_Search_Limit Gripper Read the search limit flag If set the gripper is currently searching the mechanical limits If zero the search limits protocol is finished and the gripper works as usual waiting commands Return gripper Search Limit flag 0 done in progress Parameter unsigned char kgripper_Gripper_Get_Limits Gripper Read the open mechanical limit The closed limit is always 0 Return gripper mechanical limit 0 255 Parameter void kgripper_Gripper_Get_Ambiant_IR_Light Gripper unsigned short Amb IR Left unsigned short Amb_IR_Right Read the ambient IR light measured by the two finger sensors This function uses two pointers to get both results in only one call You need to pass the address of the variables to the function Return Parameter Amb IR Left ambient light measured by the left sensor Amb_IR_Right ambient light measured by the right sensor void kgripper_Gripper_Get_Distance_Sensors Gripper unsigned short Dist IR Left unsigned short Dist IR Right Read the distance measured by each IR sensor The value depends on the distance and the
5. gripper and arm sockets and store the handle in their respective pointers Arm knet_open Keripper Arm KNET_BUS_I2C 0 NULL Gripper knet_open Kegripper Gripper KNET_BUS_RC 0 NULL printf Khepera3 Gripper example C K Team S A r n printf Get an object n kgripper_Gripper_Set_Order Gripper kgripper_Gripper_Get_Limits Gripper Open the gripper to its maximal limit usleep 10000 Wait at least that a control loop is made while kgripper_Gripper_OnTarget Gripper 0 kgripper_Arm_Get_Limits Arm amp Min_Position amp Max_Position kgripper_Arm_Set_Order Arm Max_Position usleep 1 0000 while kgripper_Arm_OnTarget Arm 0 while kgripper_Gripper_Object_Detected Gripper 0 kgripper_Gripper_Set_Torque Gripper 600 kgripper_Gripper_Set_Order Gripper 0 while kgripper_Gripper_Get_Current Gripper lt 600 kgripper_Arm_Set_Order Arm Min_Position usleep 1 0000 while kgripper_Arm_OnTarget Arm 0 Datal6 kgripper_Gripper_Get_Resistivity Gripper printf Object resistivity u n Datal6 KheperallI Gripper User Manual rev 1 0 Wait that the gripper is on position Move the arm to the ground Wait at least that a control loop is made Wait that the arm is on position Wait an object Set the maximal torque Close the gripper Wait that the object is grip Move the arm up the Robot Wait at least that a control loop is made W
6. include these three lines in the beginning of your program kgripper_init Arm knet_open Kgripper Arm KNET_BUS_I2C 0 NULL Gripper knet_open Kgripper Gripper KNET_BUS_I2C 0 NULL The libkorebot provides high level functions which include all the available capabilities of the gripper Look at the section 4 3 1 to view the different functions provided by the libkorebot If you want to access directly to the PC register look at the section 4 3 2 4 3 1 High level functions of the libkorebot The green words indicate the type of the function or parameter and must not be included in your code The blue words are the parameters You must declare it in your code before calling the function Only the black words can be directly added to your code unsigned int kgripper_init void Initialize the library to use the different gripper functions This function must be called at the beginning of each program using the gripper Return 0 if success or lt 0 if error Parameter KheperallI Gripper User Manual rev 1 0 18 4 3 1 1 Arm functions unsigned char kgripper_Arm_Get_Version Arm Return the firmware version of the arm microcontroller Return firmware version 0x00 OxFF Parameter unsigned short kgripper_Arm_Get_Position Arm Read the actual position of the arm Return arm position 0 1023 where 1 0 325 Parameter unsigned char kgripper_Arm_Get_Speed Arm Read the actual speed
7. turn on the robot Once the login passed run the kgripper_test program If it is not yet installed on your KoreBotll follow the step in the section 4 1 e Type the command get 1 and enter After this command the gripper will open its finger and the arm will go in ground position Then the gripper will wait to see an object between its fingers Place a little object in the finger the gripper will close its finger and grab the object to place it in high position Once done the resistivity of the object will appear on the terminal You can try with one object made of wood or plastic and one made of metal to compare and verify that the sensors work correctly If the gripper does not correctly perform this sequence of actions please contact your local dealer Kheperalll Gripper User Manual rev 1 0 14 4 PROGRAMMING THE GRIPPER Gees The Gripper is an extension that can be used only with the KoreBotII mounted in the KheperallI That means that the KoreBotII controls all the functions of the Gripper In fact the gripper does nothing without an order from the KoreBotlII As all the KoreBotII extensions a library including all the available functions is provided with the libkorebot version 1 14 or greater If you already have a libkorebot installed in your computer but with an older version YOU can download the latest version with the following link Replace Vie VERSION by the version number 1 1 7 or preaien If you
8. value must be between the two mechanical limits use the status command to view these limits movegrip Effect move the finger of the gripper to a given value Parameter Position to reach This value must be between 0 and the open limit use the status command to view the limit Where a parameter of 0 will force the gripper to close till the torque limit is reached KheperallI Gripper User Manual rev 1 0 16 sensor Effect Parameter maxspeed Effect Parameter get Effect Parameter demo Effect Parameter torque Effect Parameter search Effect Parameter display the value of the different sensors in the gripper distance sensor left and right ambient light object detection and electrical resistivity number of repeated sensors display set the maximum speed of the arm use in the position regulation max speed of the arm 1 15 where 1 32 5 s and 15 487 5 s release or grab on object using the optical barrier 1 open the gripper and move the arm in the ground position Wait in this position until an object is detected by the optical barrier 0 move to the ground position and release the object Return to the high position before closing run a demo mode where the gripper and the arm move together at the same time number of repeated cycle 1 65535 times If the parameter is set to 0 the demo mode will run continuously To stop the demo push CTRL C keys to close the softwar
9. Arm Read the maximum speed used by the arm regulation Return max speed value where 1 32 5 s Parameter unsigned char kgripper_Arm_Get_Search_Limit Arm Read the search limit flag If set the arm is currently searching the mechanical limits If zero the search limits protocol is finished and the arm works as usual waiting commands Return arm Search Limit flag 0 done 1 in progress Parameter void kgripper_Arm_Set_Order Arm unsigned short Order Set the position order of the arm to move it Once this function is called the arm will move automatically to the given position using the max_speed parameter If this value is outside the mechanical limits the microcontroller will limit it automatically Return Parameter Order position that the arm must reach void kgripper_Arm_Set_Max_Speed Arm unsigned char Max Speed Set the maximum speed used by the arm regulation during a movement Return Parameter Max Speed Maximum speed value 1 32 5 s void kgripper_Arm_Set_Search_Limit Arm unsigned char Search Limit Flag Start or stop a search of the arm mechanical limits Return Parameter Search Limit Flag 1 to start a limit search 0 to stop it KheperallI Gripper User Manual rev 1 0 20 4 3 1 2 Gripper functions unsigned char kgripper_Gripper_Get_Version Gripper Return the firmware version of the gripper microcontroller Return firmware version 0x00 0xFF
10. Parameter unsigned char kgripper_Gripper_Get_Position Gripper Read the actual position of the gripper If an object is gripped this will indicate its size Return gripper position 0 255 Parameter unsigned char kgripper_Gripper_Get_Order Gripper Read the actual position order of the gripper Return gripper position order 0 255 Parameter unsigned char kgripper_Gripper_Get_Speed Gripper Read the actual speed of the gripper Return gripper speed 0 255 Parameter unsigned short kgripper_Gripper_Get_Current Gripper Read the actual current of the arm motor Return actual gripper motor current 0 1023 where 1 0 22 mA Parameter unsigned short kgripper_Gripper_Get_Torque Gripper Read the maximal current Torque acceptable in the gripper motor The regulator will limit the motor torque when grabbing an object using this parameter Return max gripper motor current 0 1023 where 1 0 22 mA Parameter unsigned short kgripper_Gripper_Get_Resistivity Gripper Read the value of the object resistivity only if an object is gripped other wise value will be 0 Return object resistivity 0 1023 Parameter KheperallI Gripper User Manual rev 1 0 21 unsigned char kgripper Gripper OnTarget Gripper Read the flag which indicates if the gripper has reached its position order Actually this value will be set if the difference between the actual position and the order is less than 2
11. ait that the arm is on target 25 19 f 5 WARRANTY K TEAM warrants that this product is free from defects in materials and workmanship and in conformity with the respective specifications of the product for the minimal legal duration respectively one year from the date of delivery under normal use conditions Upon discovery of a defect in materials workmanship or failure to meet the specifications in the Product Mring the afore mendoned pobi C ui afore mentioned period Customer must request help on K ae Internet forum on http www k team com kforum by detailing The type of the product v used ETE version amp serial number The extension modules The programming environment of the robot standard version OS The standard use of Product before the appearance of the problem The description of the problem If no answer is received within two working days Customer can contact K TEAM support by phone or by electronic mail with the full reference as stated below If the defect is identified as a warranty related problem K TEAM shall then at K TEAM s sole discretion either repair such Product or replace it with the equivalent product without charging any technical labour fee and repair parts cost to Customer under the condition that Customer brings such Product to K TEAM within the period mentioned before Repair or replacement under warranty does not entitle to original warranty team extension This limited
12. aluated from the voltage so the two measures are linked To convert the returned value to a real voltage use the following formula Value 102 3 BatteryVoltage V This battery doesn t replace the Kheperalll robot battery you must plug a charged battery in the robot to use the robot and the gripper The gripper will be supplied only if it s mounted on a Kheperalll which is correctly powered and turn on As soon as the Kheperalll is turn off or the battery is empty the gripper supply will be cut The charger is not provided with the gripper as it s the same as the Kheperalll Robot To charge the gripper battery you must use the same charger as the robot and connect it to the power connector see n 4 in the overview The red led n 2 in the overview will turn on to indicate that the battery is in charge As soon as the battery is completely charged the red led will turn off and the green led n 3 in the overview will turn on You can charge the battery even if the gripper is mounted or not on a Kheperalll The battery can also be charged if the Kheperalll and the gripper are turn on The only difference will be the charged time It s faster to charge the battery when the robot is turned off than the opposite Warning use only the official charger provided with the KheperallI robot to charge the gripper KheperallI Gripper User Manual rev 1 0 11 2 6 IR sensors and optical barrier The KheperallI Gripper is equip
13. colour If one of these two parameters are constant you can use these values to measure the unknown parameter Return Parameter Dist IR Left distance measured by the left sensor Dist_IR_Right distance measured by the right sensor KheperallI Gripper User Manual rev 1 0 22 void kgripper Gripper Set Order Gripper unsigned char Order Set the position order of the gripper to open or close it Once this function is called the gripper will move automatically to the given position using the Torque parameter If this value is greater than the mechanical limit the microcontroller will limit it automatically You can force the gripper to use the torque control by setting the order to 0 Return Parameter Order position that the gripper must reach 0 255 void kgripper_Gripper_Set_Torque Gripper unsigned short Torque Set the maximum current in the gripper motor used by the regulator in the torque control mode Return Parameter Torque Maximum motor current 100 900 void kgripper_Gripper_Set_Search_Limit Gripper unsigned char Search Limit Flag Start or stop a search of the gripper mechanical limits Return Parameter Search Limit Flag 1 to start a limit search 0 to stop it KheperallI Gripper User Manual rev 1 0 23 4 3 2 VC Register summary In fact the library access to the gripper functionalities with simple read and writes command to PC register If you do not want to use the high level functions yo
14. consumable items such as batteries supplied with the Product any accessory products which is not contained in the Product cosmetic damages damage or loss to any software programs data or removable storage media or damage due to 1 acts of God accident misuse abuse negligence commercial use or modifications of the Product 2 improper operation or maintenance of the Product 3 connection to improper voltage supply or 4 attempted repair by any party other than a K TEAM authorized robot service facility This limited warranty does not apply when the malfunction results from the use of the Product in conjunction with any accessories products or ancillary or peripheral equipment or where it is determined by K Team that there is no fault with the Product itself K Team expressly disclaims all other warranties than stated hereinbefore expressed or implied including without limitation implied warranties of merchantability and fitness for a particular purpose to the fullest extent permitted by law Limitation of Liability In not event shall either party be liable to the other for any indirect special incidental or consequential damages resulting from performance or failure to perform under the contract or from the furnishing performance or use of any goods or service sold or provided pursuant hereto whether due to a breach of contract breach of warranty negligence or otherwise Save that nothing herein shall limit either party
15. coupled with a position sensor potentiometer which provides an absolute positioning The regulation is made by the microcontroller in the base board The maximum positions limits of movement of the arm are limited by the software the two limits positions High and Ground are saved in the EEPROM of the microcontroller as soon as a search limits function is made These two limits can be modified by the user if a new search limits is done this is useful if an extension is plugged above the gripper to avoid the Gripper to hit the extension during each movement The user can read at any time the actual position speed and order of the arm It s also possible to get minimum and maximum position limits of movement of the arm and the maximum speed parameter As the gripper uses the current in the motor to detect the mechanical limits during the search limits function this value is also accessible for the user The value can be converted in a real unit using the following formula MaxCurrent 2 A Value MC Value Qe Value 1023 1023 511 5 Current A For example if the value of the motor current is 255 the real current in the motor will be 500 mA Please note that this value is not an average but a crest current as the measure is made whenever the PWM is turned off KheperallI Gripper User Manual rev 1 0 8 The user will be able to configure the maximum speed of the arm 0 15 and the position If the position order is out o
16. e set the maximum torque used by the gripper to grab an object max current in the gripper motor used in the regulation This parameter could be set between 100 and 900 22mA to 190mA Warning if the parameter is too small lt 200 sometimes the gripper will not close anymore start a search limit protocol to detect the mechanical limits of the arm and the gripper Once executed this function will update the limits on the EEPROM of the both microcontroller Warning before executing this command be sure that the gripper path is free of obstacle If the gripper does not reach correctly its mechanical limits restart the protocol Kheperalll Gripper User Manual rev 1 0 17 4 3 Compiling your own program using the libkorebot To make your own software to control the gripper you need to install the development tools for the KoreBotIl on your computer with Linux OS If it is not already done please look at the KoreBotII User Manual to know how to install it Once done you can start writing your program The best solution is to copy the kgripper_test c code source and modify it In any case keep your program in the src tests directory and modify the makefile to compile your new software add your program name in line 30 of the makefile As for all the KoreBotlII extension you need to initialize the library and open the PC bus socket before using the functions described below In every program using the gripper you will need to
17. eful to limit the maximum speed In the opposite if you carry only light object you can increase the speed up to 15 487 5 s Above this value the microcontroller will limit automatically the speed to 15 All values returned by the gripper are refreshed every control loop i e every 10ms KheperallI Gripper User Manual rev 1 0 9 2 4 Gripper The Gripper is made of two fingers which are moved by the same DC motor These two fingers are parallel in every position to improve gripping ability The maximum opening of the gripper is 55mm as shown in figure below ee Buluado xe WILUGS Figure 3 4 Max opening of the gripper The gripper is controlled in position and torque by the microcontroller in the head board The user can set every position between the closed and the max opening position As every product is a little bit different than each other the gripper has the opening limit position saved in the EEPROM of the microcontroller which is approximately a value of 170 This limit is updated when the search limits function is execute The minimal position which can be set is 1 When the position is set to 0 the gripper will automatically enter in Torque control to ensure a constant torque even if the object is very small The user can also read the position of the gripper to measure the size of the object gripped There are two possibilities The simplest solution is to linearize the position of the Gripper the problem
18. f the movement limits the gripper will limit automatically the order to avoid any damage The position is given by a potentiometer mounted on the arm Its value is read by a 10 bits ADC 0 1023 But as the movement are mechanically limited the limits value are approximately 300 High Position and 900 Ground Position these values can change a little bit if you make a new search limits function Each increment of the position sensor corresponds to 0 325 in the position of the arm For example to move the arm 30 in direction of the ground add 92 to the position order of the arm The speed is also calculated with this position At each control loop every 10ms the speed is updated So the speed value corresponds to the movement made by the arm in 10ms To calculate the real speed with the value given by the Gripper use this PositionIncrement 0 325 ControlLoopTime 0 01 s _ Value PI _ Value 0 325 CLT 00 Speed s Value 32 5 For example for a speed value of 5 the arm is currently moving at 162 5 s Please note that this value is the default speed after each boot The arm won t move all the distance at this speed it will start with an acceleration ramp and stop with a deceleration ramp The maximum speed parameter is very important if you want to carry heavy object 50g or greater The Gripper is designed to carry up to 50g but the motor can lift more if the Robot doesn t topple over In this case it s us
19. gh recycling programs you can help to create a cleaner and safer environment for generations to come For those reasons please take care to the recycling of your robot at the end of its life cycle for instance sending back the robot to the manufacturer or to your local dealer KheperallI Gripper User Manual rev 1 0 Thanks for your contribution to a cleaner environment 2 THE GRIPPER 2 1 Unpacking and inspection First check that you have a complete package You should find e the KheperallII Gripper Turret e the support CD with this User manual the Libkorebot library 2 2 Global View Figure 3 2 Overview of the Kheperalll Gripper 1 Power ON Led 8 Li Pol Battery 1000mAh 7 4V 2 Charge in progress Led 9 Arm 3 Charge complete Led 10 Head of the Gripper 4 Power input connector 11 Left finger 5 Reset button 12 IR sensor 6 Counterweight 13 Resistivity sensor 7 KB250 extension connector 14 Right finger KheperallI Gripper User Manual rev 1 0 7 2 3 Arm The arm makes the moving of the gripper possible The maximum movement is shown in figure 3 3 It allows the Gripper to grab an object in front of the Robot Ground Position and lift it above the Kheperalll High Position to keep the IR and US sensor free of obstacle and to improve the balance of the Robot High Position Ground Position Di E Figure 3 3 Possible positions of the Arm The arm is moved by a DC motor
20. her way round this can cause irreversible damage to the KoreBotII connector e When the gripper is correctly engaged in the KB 250 bus connectors push the gripper straight to plug it If it s too hard to plug the gripper do not force on it The connectors are certainly not correctly aligned Once the gripper is plugged the three magnets of the Kheperalll body coupled with the gripper magnets will ensure a good maintenance of the turret Figure 4 1 How to plug the gripper on the Kheperalll KheperallI Gripper User Manual rev 1 0 13 3 2 Disassembling This operation must be done very carefully and as infrequently as possible First switch OFF the Kheperalll robot To remove the battery is not enough e Take the gripper with one hand and maintain the KheperallI with the other Do not pull on the arm to unplug the gripper place your fingers on the motor and on the counter weight to pull correctly the gripper out of the KheperallI connectors Pull the gripper straight and very carefully Once unplugged place the gripper in its case to store it 3 3 Unpacking test After unpacking it is important to test the functionality of the gripper A test that uses both motors and all the sensors can be performed if you operate as following Plug the gripper on a Kheperalll equipped with a KoreBotIl e Connect the KheperallI to a computer using a KoreConnect and a serial cable Open a terminal on your computer and
21. of the arm Return arm speed 0 255 where 1 32 5 s Parameter unsigned short kgripper_Arm_Get_Current Arm Read the actual current of the arm motor Return arm motor current 0 1023 where 1 1 95 mA Parameter unsigned char kgripper_Arm_OnTarget Arm Read if the arm has reached its position order Actually this value will be set if the difference between the actual position and the order is less than 4 1 3 Return 1 if the arm has reached its position order and 0 if not Parameter unsigned short kgripper_Arm_Get_Voltage Arm Read the actual voltage of the battery Return 0 1023 battery voltage value where 1 9 77 mV Parameter unsigned char kgripper_Arm_Get_Capacity Arm Read the battery relative remaining capacity Return 0 100 Parameter KheperallI Gripper User Manual rev 1 0 19 void kgripper Arm Get Limits Arm unsigned short Min Position unsigned short Max Position Read the two mechanicals limits of the arm This function uses two pointers to get both results in only one call You need to pass the address of the variables to the function Return Parameter Min Position Value of the high mechanical limit Max_Position Value of the ground mechanical limit unsigned short kgripper_Arm_Get_Order Arm Read the actual position order of the arm Return arm position order 0 1023 where 1 0 325 Parameter unsigned char kgripper_Arm_Get_Max_Speed
22. of this solution is the error that can be greater than 5mm MaxOpening 170 55 mm Value 55 Value onl 170 3 1 Formula to calculate the size of the object with linearization ObjectSize The second possibility is to take care of the entire mechanical characteristic to get a better conversion Please note that even with this formula the measures won t be very precise 1mm due to the mechanical play ObjectSize mm 2 35 sin 0 325 Value 13 6 2 7 Formula to calculate the size of the object with all parameters more accurate KheperallI Gripper User Manual rev 1 0 10 Once the fingers are blocked by an object the microcontroller switches to the torque control mode and limits the motor current to a given value Configuring a small torque can avoid damaging a fragile object In opposition it s necessary to configure a high torque if you want to carry a heavy object To convert the measured value to a real current use the following formula MaxCurrent 217 mA Value 17 Value 1023 4 7 Current mA mA 2 5 Battery The Kheperalll Gripper has an integrated battery to keep the autonomy of the robot at the same level than usual The Li Pol Battery of the gripper has a 1000mAh capacity under 7 4V to ensure autonomy up to 4 hours The battery status is managed by the microcontroller in the base board same as arm management The user can view the voltage and the remaining capacity The capacity is ev
23. oftware is not yet in the home root directory of the KoreBotIl copy it the executable file is located in the src tests directory of the libkorebot Then execute it with the command kgripper_test A message will indicate that the software is running correctly If not return to section 4 1 and install the libkorebot and the configuration file The kgripper_test program waits that the user enters a command to control the gripper To show all the available commands type help and enter These commands are described below Warning this software does not support the backspace command if you have typed a wrong command type enter and restart All wrong commands will be returned by an error message The parameters of the command are separated by a space but some commands do not need any parameter In this case type only the command and finally enter 4 2 1 kgripper_test commands quit or exit Effect Close the software and return to the KoreBotII main prompt Parameter status Effect display the different status of the arm and the gripper position speed limits OnTarget flag order etc This function can be repeated by setting the parameter bigger than 1 up to 65535 times Parameter number of repeated status display getrev Effect display the revision of the firmware in the arm and gripper microcontroller Parameter movearm Effect move the arm to a given position Parameter Position to reach This
24. ped with two IR sensors one on each finger to create an optical barrier capable to detect if an object is between the two fingers Each IR sensor is in fact composed by an emitter and a receiver Along the optical barrier the user can read the value of the reflected light on the object which gives the opportunity to detect the colour of the grabbed object This measure must be done only when the gripper is closed to ensure that the distance object lt gt sensor is always the same Besides this you can use these sensors value to measure the distance between the object and the fingers The second option is only viable if the colour is known and useful if you want to place the object in the centre of the gripper before grabbing it 2 7 Electrical resistivity sensor Two conductive foams are mounted on the internal side of each finger point 13 in the overview to measure the electrical resistivity of the gripped object 1 000 900 800 700 600 500 Value 400 300 0 10 20 30 40 50 60 70 80 90 100 Resisitvity kQ Figure 3 7 Measured value of the sensor versus resistivity of the gripped object To get the exact resistivity of the gripped object the formula below shows how to calculate the real value with the returned value 10 230 Value A returned value of 1000 indicates that a conductive object is currently gripped metal for instance a value near of 0 indicates that the object has a high electrical resistivit
25. r KoreBotII has already the latest libkorebot and configuration file kgripper knc installed jump to section 4 2 4 1 Installation of the latest libkorebot and configuration file To use the gripper with the KheperalII and KoreBotII it s necessary to install the libkorebot version 1 14 or greater on the KoreBotII A configuration file kgripper knc is also necessary to use the gripper Normally if you have received the KoreBotlII at the same time than the gripper the KoreBotlI is ready to be used with the gripper in this case you can jump to section 4 2 Otherwise if you have bought the gripper separately you will need to execute the step described below Log on the KoreBotlI via ssh Bluetooth or serial port Go in the usr lib directory cd usr lib Remove the old libkorebot rm libkorebot so Copy or send the libkorebot 1 14 so file locate in the build korebot lib directory of the libkorebot Rename the libkorebot file as libkorebot so mv libkorebot 1 14 so libkorebot so Go in the etc libkorebot directory cd etc libkorebot Copy or send the kgripper knc file locate in the config directory of the libkorebot KheperallI Gripper User Manual rev 1 0 15 4 2 Testing the gripper with kgripper test software Before starting with the programming of the gripper it s important to test the gripper with the kgripper_test software to understand the different functionalities and capabilities of the gripper If the s
26. r in the base board This battery must be charged with the same charger as the Robot Two microcontrollers installed in the turret one in the head of the gripper the other in the base manage all local functionalities The one which is in the head manages the position of the two fingers the torque and the sensors optical barrier two IR sensors and resistivity sensor A network based on the I2C bus connects the two microcontrollers to the KorebotII processor Each of the two microcontrollers can be controlled through a library available in the libkorebot version 1 14 or greater 1 1 How to use this manual This manual introduces the KheperallI Gripper extension To learn how to make the best use of your gripper turret you are urged to read all of chapters 2 through 6 If this manual does not answer one of the problems you are confronted with please consult the K Team web site www k team com and especially the Forum and the FAQs e Introduction Presentation of the gripper and the way to use it Unpacking and Inspection Gripper s package description and first start up The Gripper Description of all the gripper s functionalities Connections Explanation on how to connect or disconnect the gripper to the robot Programming the gripper Instructions to program the gripper using the libkorebot or access directly to the gripper registers e Warranty Legal notice of the gripper warranty KheperallI Gripper User Manual rev 1 0 5 1
27. s liability for death or personal injury arising from its negligence neither party shall have any liability to the other for indirect or punitive damages or for any claim by any third party except as expressly provided herein Kheperalll Gripper User Manual rev 1 0 27 M K TeaM S A K Tea gt RUE GaLILee 9 MOBILE ROBOTICS le ja eden 45 a ll A DIVISION OF KT amp GT gt gt gt KheperallI Gripper User Manual rev 1 0 28
28. u can access directly to the register of the arm and the gripper When a parameter size is two bytes you must read or write the LSB first A command such as a new order will be executed as soon as the MSB byte is updated Arm Register address 0x30 Device address Read Write Name Firmware version 0x31 0x32 Actual position of the arm 0x33 Actual speed of the arm 0x34 0x35 Actual motor current 0x36 On Target flag 0x37 0x38 Battery voltage 0x39 Remaining capacity of the battery 0x3A 0x3B Mechanical limit of the arm Ground position 0x3C 0x3D Mechanical limit of the arm high position Ox3E 0x3F w Position order 0x40 w Maximum speed of the arm 0x41 PIP 1 1 a ta kee Lad oe Lad gad eae w Search Limit flag Set it to start a research Table 4 1 Register summary of the Arm microcontroller Gripper Register address 0x30 Device address Read Write Name Firmware version 0x31 Actual position of the gripper 0x32 Position order Set to 0 to close the gripper 0x33 Actual speed of the gripper 0x34 0x35 Actual motor current 0x36 0x37 w Maximum current allowed in the motor 0x38 0x39 Object resistivity 0x3A 0x3B Ambient light measured by the left sensor 0x3C 0x3D Ambient light measured by the right sensor Ox3E
29. warranty is invalid if the factory applied serial number has been altered or removed from the Product This limited warranty covers only the hardware and software components contained in the Product It does not cover technical assistance for hardware or software usage and it does not cover any software products contained in the Product This limited warranty is non transferable It is likely that the contents of Customer s flash memory will be lost or reformatted in the course of the service and K TEAM will not be responsible for any damage to or loss of any programs data or other information stored on any media or any part of the Product serviced hereunder or damage or loss arising from the Product not being available for use before during or after the period of service provided or any indirect or consequential damages resulting therefore If during the repair of the product the contents of the flash memory are altered deleted or in any way modified K Team is not responsible whatever Customer s KheperallI Gripper User Manual rev 1 0 26 product will be returned to customer configured as originally purchased subject to availability of software Be sure to remove all third parties hardware software features parts options alterations and attachments not warranted by K TEAM prior to Product service K TEAM is not responsible for any loss or damage to these items This warranty is limited as set out herein and does not cover any
30. y plastic wood Note that if there isn t any object in the gripper and the fingers are closed the value will be at the maximum level 1000 because the two conductive foams will be directly in touch The same thing can happen if the gripped object is too small 10 15 Resistivity kQ KheperallI Gripper User Manual rev 1 0 12 3 CONNECTIONS Assembling and disassembling additional turrets is a delicate operation Try to avoid it as much as possible and perform it carefully Please follow the instructions below to avoid damage to your modules K Team can assume no responsibility for any damage caused by improper manipulation 3 1 Assembling Assembling is the easier operation but it is also necessary to perform it carefully Before assembling the gripper on the KheperaIII you must be sure that a KoreBotIl is already mounted inside If not look at the KheperaIlI User manual to know how to open the KheperalII and plug the KoreBotII You must mount only the main board of the KoreBotII The top PCB the one with only connectors must be removed before closing the KheperallI This top board is not useful with the gripper If the black protection plate is mounted on Kheperalll remove it before connecting the gripper and very important be sure that the KheperallI robot is turn off Then insert the gripper on the KheperallI with the arm directed to the front of the Robot Do not try to mount the gripper the ot
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