#robotics Logs
Jun 24 2017
#robotics Calendar
12:18 AM rue_house: http://hackaday.com/2017/06/22/amazing-motion-capture-of-bendy-things/
12:21 AM rue_house: oh no,
12:21 AM rue_house: now I need to learn and write a quaternion library
12:21 AM rue_house: I almost grasp the concept
12:34 AM rue_house: ok I think you define a plane, and then specify the point as a angle on that plane
12:45 AM Tom_itx: you would need more than one point wouldn't you ?
12:51 AM MrCurious: hey tom,rue. been a while. got a pic of current project so i can catch up?
01:23 AM rue_house: hmm
01:23 AM MrCurious: got a seek.ip lidar last week
01:23 AM MrCurious: seek.io
01:24 AM MrCurious: scanse.io rather… mental slip
01:24 AM rue_house: I think the last main thing was to make a mechanical parts washer
01:24 AM rue_house: its not done yet tho
01:24 AM rue_house: oh there was the pipe stand
01:24 AM MrCurious: pic?
01:24 AM rue_house: http://ruemohr.org/~ircjunk/images/p1090036.jpg
01:25 AM rue_house: dont ahve a good pic of the parts washer up
01:25 AM MrCurious: very nicely done. wish i had welding kit
01:25 AM rue_house: I need to get more with the welding
01:27 AM rue_house: I came up with a 4 transistor pwm citcuit
01:27 AM MrCurious: next project, take 3 neato lidars, mount them on 3 a 3 faced pyramid 90|90|90 and convert them to be stepper driven, and make the whole pyramid rotate, so i can get a 3d lidar scan
01:28 AM rue_house: http://ruemohr.org/~ircjunk/tutorials/elex/micropwm/p1080966.jpg
01:28 AM rue_house: http://ruemohr.org/~ircjunk/tutorials/elex/micropwm/p1080967.jpg
01:28 AM MrCurious: change resistance, alter pwm freq?
01:28 AM rue_house: MrCurious, where you getting the lidar?
01:28 AM MrCurious: why not just use a 555
01:28 AM MrCurious: a friend mailed me 4 or 5 of them
01:28 AM rue_house: its _4_ transistors
01:29 AM rue_house: the pot varries the duty
01:29 AM rue_house: the 33k is the freq
01:29 AM MrCurious: nice.
01:29 AM rue_house: the only downside is that its like 12V min
01:30 AM rue_house: if one had a JFET it could probably be operated at 5V
01:30 AM MrCurious: so why do you need a pwm driver? cnc spindle?
01:30 AM rue_house: I was just playing
01:31 AM rue_house: while I was playing I wondered if I could do it
01:31 AM rue_house: that could be used as part of an smps
01:31 AM MrCurious: shows a pretty solid understanding of transistor and analog circuits
01:31 AM rue_house: no, no its mostly just "I think I can.... " fluke
01:32 AM MrCurious: the can do attitude :)
01:33 AM rue_house: I'v got a force sensor that uses a piezo
01:33 AM rue_house: but
01:33 AM rue_house: its not working reliably yet
01:33 AM rue_house: there is something I'm not understanding right
01:33 AM MrCurious: a strain sensor?
01:33 AM rue_house: well, no,
01:33 AM rue_house: ... a flex sensor I think
01:33 AM rue_house: symantics I know
01:34 AM MrCurious: i think same thing
01:34 AM rue_house: but using it for what I want is going to be trickey
01:34 AM MrCurious: have you put it on a scope and flexed it?
01:34 AM rue_house: I need to make, like, ... a .... load cell for it
01:34 AM rue_house: nooo
01:34 AM MrCurious: suspect it may put out uV spikes with strain
01:34 AM rue_house: a peizo puts out charge/dF
01:34 AM rue_house: a capacitor intrgrates charge
01:34 AM rue_house: the base of a fet is a capacitor
01:35 AM rue_house: the fets resistance changes based on the gate charge
01:35 AM rue_house: so, basically, you put the peizo on the fet gate
01:35 AM MrCurious: what are you planning on using it for? or just playing with to learn
01:35 AM rue_house: you get resistance/Force
01:36 AM rue_house: absolute cause the differentiation is integrated
01:36 AM rue_house: I want to make a hand motion control thing
01:36 AM MrCurious: data glove?
01:36 AM rue_house: where you dont move your hand, you just apply force
01:36 AM MrCurious: robustra just made one
01:36 AM rue_house: *but* the robot is force-control
01:37 AM rue_house: so your doing force control of force control
01:37 AM rue_house: and use vibration for force feedback
01:37 AM rue_house: er, well I have to play
01:37 AM rue_house: but your hand dosn't move
01:37 AM rue_house: you just varry your force
01:39 AM rue_house: I'm snagged on my force feedback servo controller tho, for the raw motors I'm using, I'm having issue getting the motor current when the motor is being pwm driven
01:39 AM rue_house: esp cause I'v got a slave controller doing the pwm and the analog sampling isn't sync'd with it
01:39 AM rue_house: ... slave adc too
01:41 AM rue_house: I would just use that old antistatic foam for the force 'glove' thing, but I cant FIND any
01:41 AM rue_house: all my stuff has deteriorated
01:41 AM MrCurious: ah the black chip foam
01:41 AM rue_house: yep
01:41 AM MrCurious: gotta still be sourcable
01:41 AM rue_house: cant find any
01:42 AM rue_house: hmm I'm surprised I dont ahve any of those old maxim sample boxes
01:43 AM rue_bed: I got a whole bunch of stm32 stuff going
01:43 AM rue_bed: test code
01:43 AM rue_bed: uart, adc, timers, interrupts, pin io, pin interrupts
01:44 AM rue_bed: not dma yet
01:45 AM MrCurious: nice. playing with esp8266/esp32 at all?
01:45 AM rue_bed: I got one, not even set up to do anything with it
01:48 AM MrCurious: i have a 24 lead slip ring. wondering if i can pass usb over it reliably by using 6 leads PER usb connection
01:48 AM rue_bed: hmm
01:48 AM rue_bed: would be intersting to see what the noise is like on one
01:48 AM MrCurious: if i can do that, then the 3-axis compound lidar can rotate continous, if not, it would have to rock back and fourth
01:48 AM rue_bed: maybe loop a line thru one and back, give it a pullup and watch it on a scope
01:48 AM MrCurious: though, i suppose i could use a pair of esp8266's to bridge it using wifi...
01:48 AM rue_bed: power can be noisy cause you just filter it
01:49 AM rue_bed: too bad usb dosn't use NZR manchester so you could run it thru a vcr head
01:49 AM MrCurious: so has anyone in channel made a robot of late/
01:49 AM rue_bed: tho, that said, you COULD use ethernet
01:50 AM rue_bed: I'v been making other things, sorry
01:50 AM rue_bed: my last robot was arm10
01:50 AM hypodyne: only virtual robots
01:50 AM rue_bed: http://ruemohr.org/~ircjunk/robots/arm10/slide.htm
01:51 AM rue_bed: first one to use cnc and 3d printed parts
01:51 AM MrCurious: hypodyne: this may be of interest to you then http://www.electronicdesign.com/industrial-automation/isaac-next-frontier-robot-simulation
01:51 AM rue_bed: I have yet to cnc a 3d print :)
01:51 AM MrCurious: i remember when you were working on that
01:52 AM rue_bed: I just need to make a config file for it
01:52 AM rue_bed: and exersize it
01:53 AM MrCurious: i got a new 3d printer, still assembling, should be able to finally print the BCN3D arm
01:55 AM MrCurious: rue_bed: the arm looks slick, how much can it lift?
01:55 AM rue_bed: :) not operated yet
01:56 AM hypodyne: Mine is more like this https://youtu.be/y1LSihE9Bzw?list=PLRtAn3khoqywTznsiC5-R0NSQcTHvd7fH
01:57 AM MrCurious: hypodyne: i see you are firmly on the teledildonics path of robotics… jobs in that field are on the rise
01:58 AM hypodyne: Yeah.. not really into sex with robots.
01:59 AM MrCurious: :) sry, couldnt resist
01:59 AM hypodyne: I made her that way so she would sell well.
01:59 AM MrCurious: and just because you make it doesnt mean you are into it. could be for the money
02:00 AM hypodyne: Having trouble trying to make her move well.. like a anime character...
02:01 AM hypodyne: Wondering if its not easier to move to 3D.
02:02 AM rue_bed: if you havn't noticed the anime trick is to NOT move
02:02 AM rue_bed: saves frames
02:02 AM hypodyne: yeah.. there is a lot of that ..but this is an interactive app...
02:03 AM MrCurious: you plot her movements by moving her skeleton, and the app renders the frames right?
02:03 AM hypodyne: So she does three major things, talks, facial expressions and moves.
02:05 AM hypodyne: no.. no skeleton.. I have all the different bits on canvases.. and just move the canvas mostly.. except for talking and blinking
02:05 AM MrCurious: use some openCV, and video of real women moving, and train a deel learning neural network using tensor flow
02:06 AM hypodyne: Well that will be next, if I can get her moving then I can use motion capture to make better animations.
02:07 AM MrCurious: have you read up on how they do it for animated movies like shreck and monsters
02:07 AM hypodyne: problem is that even the smallest movements are falling apart using UWP..
02:08 AM hypodyne: that is all 3d.. I am stuck in the 2D world.
02:08 AM hypodyne: mine is more like cell animation
02:09 AM hypodyne: although automated.
02:10 AM hypodyne: I know how to fix it, just the amount of work to do...
02:13 AM hypodyne: It would be nice if you could create anime just by writing a script.. and a bit of post processing.
02:26 AM hypodyne: I would not mind creating a real robot, just find software a lot easier.
02:58 AM rue_shop3: so write software for real robots
02:58 AM rue_shop3: how about a copy of my interface?
03:02 AM rue_shop3: I need a 4d drawr set for parts
03:07 AM MrCurious: anyone here using the beaglebone blue?
03:10 AM rue_shop3: nope
03:16 AM MrCurious: strange… seems like it was tailor made for robotics…and is cost effective
03:16 AM MrCurious: if you havent heard of it, it is worth looking at
04:15 AM rue_house: I'v heard of it
06:26 AM anonnumberanon: what it has high power outputs for motors?
06:27 AM anonnumberanon: oops, this is 2 hours later..
06:29 AM anonnumberanon: oh.. 21+ servo ports..
06:29 AM anonnumberanon: that better output 10 A * 5 V constant to get my attention :)
10:57 AM rue_bed: 8:30am
10:57 AM rue_bed: ok
10:58 AM veverak: 5:28 pm
10:58 AM rue_bed: and I had a dream a main ups of mine wasn'tworking
11:00 AM rue_bed: its a nice day out, sunny
11:01 AM rue_bed: wish I had a remote prescence robot to go wander 'round the yard
11:01 AM rue_bed: vr style
11:02 AM rue_bed: breakfast, hmmmm
11:03 AM rue_bed: I wonder if I should just work out a set of stuff I can drink instead of having to eat food all the time
11:47 AM Tom_itx: nice cool day here too
11:58 AM rue_shop3: I'd like to set myself on a nice big robot project today
12:05 PM z64555: rue_shop3: there is a thing called soylent that's in a development phase.
12:05 PM z64555: provides ample nutrition, but you still should have solid food once in a while to make sure your digestive system doesn't give up on you
12:11 PM veverak: tried something like that
12:11 PM veverak: did not enjoyed it
03:46 PM z64555: Yeah, trouble with liquid diets is that you get liquid out
05:24 PM veverak: I mean the taste
05:24 PM veverak: z64555: I love food, love eating and love enjoying proper food
07:06 PM rue_house: what if you could full time eat the rest of your life
07:06 PM rue_house: would you?
07:06 PM rue_house: 24 hours a day, 7 days a week, eating
07:07 PM Tom_itx: nope
07:09 PM zhanx: nope
07:09 PM zhanx: not even close and i have not had dinner yet
07:12 PM rue_house: ok, if I spin the plate around and weld some interlinks, I could be ok, I need some way of tensioning the chain tho
07:13 PM rue_house: zhanx, ugh, big heavy projects!
07:13 PM zhanx: spring loaded bar with a joint to tension it?
07:13 PM zhanx: like a roll up door
07:14 PM rue_house: http://ruemohr.org/~ircjunk/robots/sparrow1/p1030143.jpg
07:14 PM rue_house: that motor
07:14 PM rue_house: http://ruemohr.org/~ircjunk/robots/sparrow1/p1080970.jpg
07:14 PM rue_house: to that roll bender
07:14 PM zhanx: little guy
07:14 PM rue_house: chump change for you I'm sure
07:14 PM rue_house: its up on the edge of what I can do
07:15 PM zhanx: add a sprocket on it with a spring to tension it
07:15 PM * Tom_itx moves the edge over a bit
07:15 PM rue_house: I need the mechas upper body to make the mecha
07:15 PM rue_house: the only way I can put this togethor is with itself
07:15 PM rue_house: talk about boostrapping
07:16 PM zhanx: yep
07:16 PM rue_house: when i ahve these togethor I dont even know if I'll be able to move them
07:16 PM rue_house: *hum*
07:16 PM zhanx: rue really for your setup an extra sprocket is the best idea
07:17 PM rue_house: chain is too short
07:17 PM rue_house: I dont think I have anymore matching timing chain and using the breaker I made is a pain
07:17 PM zhanx: then make it slip in the mount and tension with a bar and help
07:17 PM rue_house: yep
07:18 PM zhanx: most of the time i wish i had three hands when working on stuff
07:18 PM rue_house: I wish I had 2 more arms
07:18 PM rue_house: and I been able to work out what I'd be doing with them
07:19 PM zhanx: i am getting really good with a cutting torch, i can cut with in .1 now
07:19 PM Tom_itx: i wish i had a mill that could use 1.5" cutters
07:19 PM rue_house: ok , wheres the impact...
07:19 PM Tom_itx: and 6" fly cutters etc
07:20 PM zhanx: Tom_itx: that would be nice to have
07:20 PM Tom_itx: pisses me off every time i try to cnc something on this little thing
07:21 PM zhanx: you need two really, one for small things and another for big stuff
07:21 PM Tom_itx: one to hog and one with a high speed spindle
07:22 PM Tom_itx: one that would shake the whole neighborhood if it ever crashed...
07:24 PM Tom_itx: there was one at a shop here i saw once with a conveyor with multi pallet changers and toumbstones mounted to them
07:24 PM Tom_itx: like 120 tool changer
07:24 PM Tom_itx: i don't think they ever used it like it could be used
07:27 PM zhanx: and wake them up when the head chatters
08:00 PM z64555: tombstones??
09:18 PM Tom_itx: z64555, http://tombstonecity.com/products/tombstones/tombstones.png
09:18 PM Tom_itx: http://www.invert-a-bolt.com/images/ProductPhotosLR/twosidedtombstone.jpg
09:19 PM Tom_itx: there are several types
09:20 PM Tom_itx: http://www.ame.com/tombstones-fixtures
09:21 PM Tom_itx: they are pin located to a pallet changer for exact location
09:38 PM rue_shop3: wow
09:39 PM Tom_itx: my bud had a machine with a 2 pallet changer with 2 of those block toumbstones on it
09:40 PM Tom_itx: lets you run multiple parts or copies of the same part without interrupting the machine
09:40 PM Tom_itx: some machines had job schedulers on them
09:40 PM rue_shop3: I need a way of getting low-overhead sleep
09:41 PM Tom_itx: sometimes my 20 min power naps turn into 3hr ones
09:41 PM Tom_itx: finally got my part cut though
09:41 PM Tom_itx: several obstacles to overcome like machinable area etc
09:42 PM Tom_itx: the spindle wouldn't reach the far side of the part without hitting the vise so i had to program stops in it to flip the part and machine on the near side