#robotics Logs

Apr 13 2014

00:38 rue_shop2 Tom_itx, theBear I have a html table for you
00:40 rue_shop2 http://ruemohr.org/~ircjunk/tutorials/mech/fractionChart2.html
00:41 rue_shop2 I may work on a version with all the number and letter sizes in it
00:56 GargantuaSauce https://www.youtube.com/watch?v=TXvZWTZWN8A
00:56 GuShH_ rue_shop2: why not just print the starrett charts
00:57 GuShH_ for searching purposes?
00:57 ShH_ printed the charts and keeps them nearby ins
00:57 GuShH_ pretty quick to find whatever you're looking for...
01:00 rue_more I see a few charts like mine online, but none with the detter sizes
01:00 rue_more robots looksing good!
01:00 GuShH_ what letter size?
01:01 GuShH_ that's fraction, inch to mm
01:01 rue_more A to Z and 0 to 42ish
01:01 GuShH_ http://image.slidesharecdn.com/inchtomillimeterconversiontable-12933724146105-phpapp01/95/slide-1-728.jpg?cb=1293372857
01:01 GuShH_ the machinery handbook has a better one
01:02 rue_more GargantuaSauce, do we get closeups of the legs?
01:02 rue_more whats the battering?
01:02 rue_more chattering
01:02 GargantuaSauce its the servos being shitty
01:02 rue_more huh
01:02 rue_more funny it has spouts of it
01:02 GargantuaSauce yeah
01:03 GargantuaSauce it's when there's legs dangling
01:03 GargantuaSauce one will start and they all follow
01:03 rue_more ah
01:03 GargantuaSauce because they all have the same unstable frequency
01:03 rue_more nice tho!
01:03 rue_more ah yea
01:03 GargantuaSauce i am actually pretty unhappy with the motion
01:03 GargantuaSauce and the video
01:03 rue_more you know how to adjust the gain?
01:03 GargantuaSauce and well everything
01:03 GargantuaSauce there is no way
01:03 GargantuaSauce we've been over this
01:03 GuShH_ vernier caliper, used -> question: what brand is it? | answer: no brand | question: so how did you figure it was worth 80 bucks? | answer: ...
01:03 rue_more oh you said their digital
01:03 GargantuaSauce yep
01:04 GargantuaSauce i'd looove to just replace a resistor
01:04 GargantuaSauce but no matter, i'm still planning on doing better electronics
01:04 GargantuaSauce both for my controller and for the servos
01:04 rue_more with analog servos you change the pulse timing
01:04 rue_more the timing between the pulses
01:05 GargantuaSauce ah ok
01:05 rue_more it cuts the drive pulse off
01:05 GargantuaSauce with these it doesnt matter if i pulse at 2 or 200hz
01:05 rue_more s the gain its restricted
01:06 GargantuaSauce and i need webcams that aren't garbage
01:06 rue_more 10x oversampling
01:06 GargantuaSauce well the resolution has to stay low because usb is very limiting
01:06 GargantuaSauce but the ghosting is really fucking bad
01:07 GargantuaSauce maybe i could improve it by tweaking the uvc params some more i dunno
01:09 rue_more if its a digital servo you should be able to connent a widget to adjust the paramiters
01:09 GargantuaSauce if there's a protocol for that it's not documented
01:09 rue_more most digital servos have it
01:10 rue_more as far as I'v seen
01:10 GargantuaSauce i know hitec has one and it's quite obfuscated
01:13 rue_more well
01:13 rue_more I broke the mowerbot and fixed the tractor
01:13 rue_more the servo controller isn't working, dont know if its the control app or the firmware
01:14 rue_more gonna have to break something to work it out
01:14 GargantuaSauce looks like the hitec ones don't even have pid parameter tweaking
01:15 GargantuaSauce just dead band, direction, max speed, failsafe
01:21 rue_more wow
01:21 rue_more if they aren't pid, Id expect aleast a P gain tweek
01:21 GargantuaSauce oh i'm sure they have pid contol
01:22 GargantuaSauce the params just aren't exposed
01:22 GargantuaSauce (well it's probably pd)
01:22 rue_more I sux
01:22 GargantuaSauce and their "speed" is probably the gain
01:23 rue_more not if its max speed
01:23 GargantuaSauce it could be either i guess
01:23 rue_more my mind wants to be in the shop playing, my body dosn't
01:23 rue_more it wants sleep
08:12 GuShH_ This show is spot on... this is exactly how I imagine parallel universes http://gushh.net/tmp/vlcsnap-2014-04-13-09h10m26s0.png
12:24 robotustra_ GargantuaSauce: what about video?
12:30 MrCurious yeah he has a new video
12:30 MrCurious morning robotustra
12:32 MrCurious http://spectrum.ieee.org/automaton/robotics/industrial-robots/platformbot-willow-garages-secret-robot-prototype?utm_source=feedburner-robotics&utm_medium=feed&utm_campaign=Feed%3A+IeeeSpectrumRobotics+(IEEE+Spectrum%3A+Robotics)
12:39 robotustra_ morning
12:40 robotustra_ ugly robot
12:40 robotustra_ that is what I want to avoid in design in robot
12:43 MrCurious thats why you chose an asguardian as your template?
12:48 WSergio Well, that's because it's just a platform; it's not designed as an end product.
12:49 robotustra_ yep
12:50 WSergio I'd like to have one of those for my beer server/orange juicer robot.
13:07 robotustra_ americans are so americans... wants a $10000 toy to shuffle bottles
13:14 MrCurious isnt the beer-bot every mans sunday dream?
13:21 robotustra_ but when it will apear in the shop for $10k nobody will go and buy it
13:21 robotustra_ NOBODY
13:21 robotustra_ but to spend 10 years of making it - it's a real fun
13:21 WSergio That shit's 10k?!
13:21 robotustra_ may be $5k, but who cares
13:22 robotustra_ for sure more than my CNC mill
13:22 robotustra_ me estimation that the price is more than 10k
13:22 robotustra_ just because it's a new product
13:24 robotustra_ look at the prices here and decide yourself: http://www.robotshop.com/ca/en/advanced-robotic-manipulators.html
13:26 WSergio I've decided!
13:26 WSergio Robotiq Adaptive Gripper Hand it is!
13:27 rue_more you dont liek the one I made?
15:02 GargantuaSauce https://www.youtube.com/watch?v=TXvZWTZWN8A robotustra_
15:08 robotustra_ ok
15:08 robotustra_ what cameras do you use?
15:09 GargantuaSauce terrible $4 webcams
15:10 robotustra_ how do you read video?
15:10 GargantuaSauce vlc
15:10 robotustra_ through wifi?
15:10 GargantuaSauce yup
15:10 robotustra_ what is the bindwidth of the channet?
15:10 robotustra_ channel
15:10 robotustra_ did you test it?
15:11 GargantuaSauce i have em set to 320x240 so it's less than a megabit
15:11 robotustra_ I see that FPS is small
15:11 robotustra_ 10-12?
15:11 GargantuaSauce something like that....v4l2 says 25 but that's obviously false
15:12 robotustra_ I have 25 fps 640x480
15:12 robotustra_ at good light
15:12 robotustra_ daylight
15:13 robotustra_ in the evening it drops till 18 FPS
15:13 GargantuaSauce i've got better cameras on the way so we'll see how it performs when wifi is the limiting factor
15:13 robotustra_ I would make 2 different channels
15:14 GargantuaSauce i'd need a second usb hub
15:14 robotustra_ and connect wifi receivers to 2 different USB bubs
15:14 robotustra_ yep
15:14 GargantuaSauce might be worth considering i guess
15:14 GargantuaSauce things are already pretty tight on there
15:14 GargantuaSauce need a bigger frame
15:14 robotustra_ it depend on what do you want from this robot
15:15 robotustra_ if you want a static picture, it's one story
15:15 GargantuaSauce might switch to an intraframe compression codec instead of h264 so i don't have to use tcp and dropped packets don't result in a few frames of garbage
15:16 robotustra_ where do you want to use this robot?
15:16 robotustra_ if you will compress - you will loose time for compression-decompression
15:17 GargantuaSauce i want to make it autonomous so really the video telemetry is secondary to onboard processing
15:18 GargantuaSauce so latency and poor quality are tolerable, especially if i save it in raw form onboard for retrieval later
15:23 robotustra_ how are you going to porcess your video?
15:24 GargantuaSauce i want to do SLAM eventually
15:24 robotustra_ and what do you mean under autonomity
15:24 GargantuaSauce will probably start with simpler techniques
15:24 robotustra_ what is SLAM
15:24 GargantuaSauce simultaneous localization and mapping
15:25 robotustra_ at what precision?
15:25 GargantuaSauce autonomous navigation is what i mean
15:25 GargantuaSauce will need to be 1cm or so for the terrain at least
15:25 robotustra_ at what distances?
15:25 GargantuaSauce obstacles can be less precise
15:26 WSergio Nice arthropod.
15:26 GargantuaSauce the 1cm would be at <50cm or so, past that it matters a lot less
15:27 robotustra_ did you think about video processing yet?
15:28 GargantuaSauce not in depth
15:28 GargantuaSauce i'm considering cheating with a laser line scanner
15:28 robotustra_ IR?
15:29 robotustra_ so, you will nod need cameras at all?
15:29 WSergio I'd throw in a kinect sensor for slam
15:29 GargantuaSauce no i don't mean a lidar, i mean a line projector mounted next to a camera
15:29 WSergio Or are you on a fixed budget?
15:29 GargantuaSauce so it can measure parallax
15:29 GargantuaSauce kinect is kinda huge
15:29 SquirrelCZECH hmm
15:30 GargantuaSauce i am already out of space on the thing, need to make it bigger
15:30 GargantuaSauce and/or redo the electronics
15:30 SquirrelCZECH any "brilliant" ideas about how to connect M5 Threaded rod to servo? (I need to rotate the rod)
15:30 GargantuaSauce use m3 instead? :V
15:30 SquirrelCZECH cappabilites: Dremell, 3D Printer, milling machine
15:30 SquirrelCZECH hmm
15:31 SquirrelCZECH GargantuaSauce: not exactly what I want to do, but!
15:31 SquirrelCZECH M5/M3 adapter should be piece of cake :)
15:31 GargantuaSauce yeah
15:31 SquirrelCZECH Ty, I totally forgot that there is M3 inside :)
15:31 GargantuaSauce don't forget the loctite, otherwise you won't be rotating much
15:32 SquirrelCZECH sure
15:32 SquirrelCZECH :)
15:32 robotustra_ M3-M5 is made on a knee for 15 minutes
15:33 SquirrelCZECH hmm
15:33 SquirrelCZECH damn it
15:33 robotustra_ I don't understand your problems at all :)
15:33 robotustra_ 1 drill
15:33 uirrelCZECH now doesn't know if he is OK with rod attached to servo directly, or if he needs to move axis of the rod out of the s
15:33 robotustra_ 1 M3 tap
15:34 robotustra_ I would make a separation
15:34 robotustra_ with dampher
15:34 SquirrelCZECH dampher?
15:38 robotustra_ coupler
15:38 robotustra_ joint
15:38 robotustra_ 2 cups with rubber inside
15:38 SquirrelCZECH ok
15:38 robotustra_ 1 cup is mounted on servo
15:38 SquirrelCZECH gears would be overhead
15:39 robotustra_ the second cup is on the M5 side
15:39 robotustra_ yep
15:39 robotustra_ this one will remove a hits from servo
15:40 SquirrelCZECH hmm
15:40 GargantuaSauce well if you're making a cylindrical coupler anyway there's not really any need to have an m3 rod
15:40 GargantuaSauce it can interface directly with the servo spline if you can machine it precisely enough
15:40 GargantuaSauce (or with an injection molded servo horn i guess)
15:41 robotustra_ SquirrelCZECH: give me a picture
15:41 robotustra_ or a plan
15:41 SquirrelCZECH robotustra_: hmm
15:41 SquirrelCZECH get in my head? :D
15:41 robotustra_ hold on, I'll take a gun
15:42 SquirrelCZECH ok
15:42 uirrelCZECH should runaway far enough in 2-3 d
15:42 SquirrelCZECH :)
15:42 SquirrelCZECH robotustra_: or how fast you are?
15:42 robotustra_ I'm slow
15:42 SquirrelCZECH ok
15:42 robotustra_ when I'm writing a code
15:42 robotustra_ so, draw something
15:42 SquirrelCZECH robotustra_: idea: I need a "rotation" mechanism at the end of robotic arm to rotate with a webcamera (aka old android phone)
15:43 SquirrelCZECH and maybe I can decide one day that I will add something on it... (like LEDS)
15:44 SquirrelCZECH M5 Rod is nice, because I can move the phone up/down on it
15:44 GargantuaSauce pff just gluegun the phone to a servo horn
15:44 GargantuaSauce jeez
15:44 robotustra_ yep
15:45 SquirrelCZECH that's not the way I like it :D
15:45 robotustra_ GargantuaSauce tell you the elegant solution
15:45 robotustra_ op 3DPrint a holder
15:45 robotustra_ to the servo
15:45 SquirrelCZECH yep
15:45 SquirrelCZECH that's what I design just now
15:46 robotustra_ ok
15:48 robotustra_ so GargantuaSauce, where are you going to run your bot?
15:48 robotustra_ what batteries are you going to use?
15:48 GargantuaSauce just around my apartment. RC lipos
15:49 GargantuaSauce (mostly just tethered though)
15:49 GargantuaSauce my overly ambitious idea is to have it able to walk up and down my stairs
15:50 SquirrelCZECH wow
15:50 SquirrelCZECH have fun
15:50 GargantuaSauce hehe
15:50 uirrelCZECH will be with stalking arm with webca
15:55 robotustra_ SquirrelCZECH: https://www.youtube.com/watch?v=84Ln-5E29Vk&t=148
15:55 SquirrelCZECH *will be happy
15:55 SquirrelCZECH NICE! :)
15:56 robotustra_ GargantuaSauce: what run time do you expect?
17:16 password2 hi
17:20 password2 what is common power requirements for steppers?
17:46 rue_more a few wattts
17:59 MrCurious well between a few watts and several watts
18:25 ShH_ gives robotustra the fi
18:25 GuShH_ ...the robotic finger.
18:26 MrCurious the robo-fing-ustra
19:17 GargantuaSauce robotustra_: well presently it draws maybe 5-8A walking fast, 1-2 standing
19:17 GargantuaSauce could probably get an hour out of it before the extra weight brings diminishing returns
20:11 robotustra_ 1 hour is ok
20:12 GargantuaSauce and if it can walk over to a charging station and swap out batteries automatically, who cares how long it can run
20:12 robotustra_ and after you'll receive a bill for electricity
20:13 robotustra_ oh
20:13 robotustra_ I have an idea for you
20:13 robotustra_ may be you have already the same idea
20:14 robotustra_ how are you going to swap batteries?
20:14 GargantuaSauce do you mean the connectors or what
20:14 robotustra_ yes
20:14 GargantuaSauce i havent really thought too much about it, this is pretty far in the future
20:14 robotustra_ the process of change
20:15 GargantuaSauce i've only considered it electrically
20:15 robotustra_ not necessary
20:15 robotustra_ I mean
20:15 robotustra_ let's say you have a docking station
20:15 robotustra_ on which there are 2-3 betteries
20:16 robotustra_ the robot comes to the place sits on the battery, connect new one and disconnect old one
20:17 robotustra_ old one stay to charge, and new one in on board
20:17 GargantuaSauce yeah that's basically what i had in mind
20:18 robotustra_ if you'll do this it will be very nice
20:18 LoRez a reliable connection that can be released at will won't be super easy
20:19 robotustra_ easy
20:19 GargantuaSauce well it'll require the precise application of quite a bit of force
20:19 robotustra_ just a rod with notch
20:34 robotustra_ use neodym magnets as holders
20:35 robotustra_ with electric motors to attach
20:35 robotustra_ no electric magnets
20:35 robotustra_ no, electric magnets