Merge branch '54-reorg', #54

roboticslab-uc3m · Apr 5, 2019 · 488203d · 488203d
2 parents c8c3fc1 + a04154c
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -25,7 +25,7 @@ yarp_install(FILES ${md}
 
 # Install directories, create a copy in the local build tree.
 yarp_install(DIRECTORY appendix
-                       assets
+                       fig
                        overview
              DESTINATION ${TEO-DEVELOPER-MANUAL_CONTEXTS_INSTALL_DIR})
 

diff --git a/README-gitbook.md b/README-gitbook.md
@@ -1,4 +1,4 @@
-[![roboticslab-uc3m logo](assets/roboticslab-banner-350px.png)](https://github.com/roboticslab-uc3m)
+[![roboticslab-uc3m logo](fig/roboticslab-banner-350px.png)](https://github.com/roboticslab-uc3m)
 
 # TEO Developer Manual
 

diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-[![roboticslab-uc3m logo](assets/roboticslab-banner-350px.png)](https://github.com/roboticslab-uc3m)
+[![roboticslab-uc3m logo](fig/roboticslab-banner-350px.png)](https://github.com/roboticslab-uc3m)
 
 # TEO Developer Manual
 

diff --git a/SUMMARY.md b/SUMMARY.md
@@ -7,15 +7,12 @@
   * [Firmware](overview/firmware.md)
   * [Demonstration](overview/demonstration.md)
   * [Research](overview/research.md)
-* [Development](development.md)
-* [Bill of materials (BOM)](bill-of-materials.md)
+  * [Development](overview/development.md)
+* [Diagrams](diagrams.md)
+* [Tables](tables.md)
+* [Dynamic information](dynamic-information.md)
 * [Switches](switches.md)
 * [Connectors](connectors.md)
-* [Motores](motores.md)
+* [Network information](network-information.md)
+* [Demo Procedure](demo-procedure.md)
 * [Additional Resources](additional-resources.md)
-* [Appendices](appendix/README.md)
-  * [Appendix A: TEO Diagrams](appendix/a-teo-diagrams.md)
-  * [Appendix B: TEO Dynamic information](appendix/b-teo-dynamic-information.md)
-  * [Appendix C: TEO Network information](appendix/c-teo-network-information.md)
-  * [Appendix D: Demo Procedure](appendix/d-demo-procedure.md)
-
diff --git a/appendix/a-teo-diagrams.md b/appendix/a-teo-diagrams.md
diff --git a/bill-of-materials.md b/bill-of-materials.md
diff --git a/connectors.md b/connectors.md
@@ -2,8 +2,8 @@
 
 | **Emergency Buttons Connectors** | **JR3 Circuit Connectors** | **Technosoft IPos Connectors** | **Cui Absolute Circuit Connectors** |
 | --- | --- | --- | --- |
-| <a href="assets/emergency-buttons-connectors.jpg"><img alt="emergency-buttons-connectors" src="assets/emergency-buttons-connectors.jpg" width="200" /></a> | <a href="assets/jr3-circuit-connectors.jpg"><img alt="jr3-circuit-connectors" src="assets/jr3-circuit-connectors.jpg" width="200" /></a> | <a href="assets/technosoft-ipos-connectors.jpg"><img alt="technosoft-ipos-connectors" src="assets/technosoft-ipos-connectors.jpg" width="200" /></a> | <a href="assets/cui-absolute-circuit.jpg.jpg"><img alt="cui-absolute-circuit" src="assets/cui-absolute-circuit.jpg" width="200" /></a> | 
+| <a href="fig/emergency-buttons-connectors.jpg"><img alt="emergency-buttons-connectors" src="fig/emergency-buttons-connectors.jpg" width="200" /></a> | <a href="fig/jr3-circuit-connectors.jpg"><img alt="jr3-circuit-connectors" src="fig/jr3-circuit-connectors.jpg" width="200" /></a> | <a href="fig/technosoft-ipos-connectors.jpg"><img alt="technosoft-ipos-connectors" src="fig/technosoft-ipos-connectors.jpg" width="200" /></a> | <a href="fig/cui-absolute-circuit.jpg.jpg"><img alt="cui-absolute-circuit" src="fig/cui-absolute-circuit.jpg" width="200" /></a> | 
 
 | **CAN Bus Connector** | 
 | --- |
-| <a href="assets/CAN.png"><img alt="CANconnector" src="assets/CAN.png" width="200" /></a> | 
+| <a href="fig/CAN.png"><img alt="CANconnector" src="fig/CAN.png" width="200" /></a> | 
diff --git a/assets/dh-table.csv → csv/dh-table.csv b/assets/dh-table.csv → csv/dh-table.csv
diff --git a/assets/motores-motores.csv → csv/motores-motores.csv b/assets/motores-motores.csv → csv/motores-motores.csv
diff --git a/assets/motores-protecciones-brazos.csv → csv/motores-protecciones-brazos.csv b/assets/motores-protecciones-brazos.csv → csv/motores-protecciones-brazos.csv
diff --git a/assets/motores-protecciones-piernas.csv → csv/motores-protecciones-piernas.csv b/assets/motores-protecciones-piernas.csv → csv/motores-protecciones-piernas.csv
diff --git a/assets/motores-transmision.csv → csv/motores-transmision.csv b/assets/motores-transmision.csv → csv/motores-transmision.csv
diff --git a/assets/teo-center-of-masses.csv → csv/teo-center-of-masses.csv b/assets/teo-center-of-masses.csv → csv/teo-center-of-masses.csv
diff --git a/appendix/d-demo-procedure.md → demo-procedure.md b/appendix/d-demo-procedure.md → demo-procedure.md
@@ -1,4 +1,4 @@
-# Appendix D: Demo Procedure
+# Demo Procedure
 
 ## Preparación
 

diff --git a/diagrams.md b/diagrams.md
@@ -0,0 +1,45 @@
+# Diagrams
+- [Joint Indexes](#joint-indexes)
+- [Joint Directions of Rotation](#joint-directions-of-rotation)
+- [DH Coordinate Systems Drawing](#dh-coordinate-systems-drawing)
+- [Link Names](#link-names)
+- [COGs](#cogs)
+- [F-T sensors](#f-t-sensors)
+- [JR3 wrists drawings](#jr3-wrists-drawings)
+
+## Joint Indexes
+
+| Joint Indexes (CAN bus) |Joint Indexes (YARP ports) |
+| ------------- | ------------- |
+| <img alt="DH" src="/fig/Joints_(can).png" width="300" /> | <img alt="DH" src="../fig/Joints_(yarp).png" width="500" /> |
+
+## Joint Directions of Rotation
+| Joint Directions of Rotation |
+| ------------- |
+| <img alt="DH" src="/fig/Directions.png" width="300" /> |
+
+## DH Coordinate Systems Drawing
+
+<img alt="DH" src="/fig/dh-drawing.png" width="400" />
+
+## Link Names
+
+- View original: [PDF](/fig/teo-link-names.pdf)
+
+## Link Lengths
+<img alt="DH" src="/fig/Lengths.png" width="250" />  <img alt="DH" src="../fig/TEO_by_links.JPG" width="400" /> 
+
+## COGs
+| COGs |
+| ---------- |
+| <img alt="DH" src="/fig/Masses.png" width="300" />  |
+
+## F-T sensors
+|  F-T sensors  |
+| ---------- |
+| <img alt="DH" src="/fig/Ftsensors.png" width="300" />  |
+
+## JR3 wrists drawings
+| F-T sensors  |
+| ---------- |
+| [File:Jr3 50M31 corregido.pdf](/fig/editable/Jr3_50M31_corregido.pdf) |
diff --git a/appendix/b-teo-dynamic-information.md → dynamic-information.md b/appendix/b-teo-dynamic-information.md → dynamic-information.md
@@ -1,8 +1,8 @@
-# Appendix B: TEO Dynamic Information
+# Dynamic Information
 
 TEO global dynamic information. 
 
-This file contains the center of mass of the whole robot in the initial home position. For individual CoM information go here: https://github.com/roboticslab-uc3m/teo-developer-manual/blob/master/assets/teo-center-of-masses.csv.
+This file contains the center of mass of the whole robot in the initial home position. For individual CoM information go here: https://github.com/roboticslab-uc3m/teo-developer-manual/blob/master/fig/teo-center-of-masses.csv.
 
 All the information presented here was calculated using SolidWorks and tuned to the real robot.
 

diff --git a/assets/CAN.png → fig/CAN.png b/assets/CAN.png → fig/CAN.png
diff --git a/assets/Directions.png → fig/Directions.png b/assets/Directions.png → fig/Directions.png
diff --git a/assets/Ftsensors.png → fig/Ftsensors.png b/assets/Ftsensors.png → fig/Ftsensors.png
diff --git a/assets/Joints_(can).png → fig/Joints_(can).png b/assets/Joints_(can).png → fig/Joints_(can).png
diff --git a/assets/Joints_(yarp).png → fig/Joints_(yarp).png b/assets/Joints_(yarp).png → fig/Joints_(yarp).png
diff --git a/assets/Lengths.png → fig/Lengths.png b/assets/Lengths.png → fig/Lengths.png
diff --git a/assets/Masses.png → fig/Masses.png b/assets/Masses.png → fig/Masses.png
diff --git a/assets/README.md → fig/README.md b/assets/README.md → fig/README.md
@@ -1,3 +1,3 @@
-# teo-developer-manual/assets
+# teo-developer-manual/fig
 
 - [follow-me-app.png](follow-me-app.png): Copied from the [follow-me](https://github.com/roboticslab-uc3m/follow-me) repository. Recommended to keep it up to date (syncronized).
diff --git a/assets/TEO_by_links.JPG → fig/TEO_by_links.JPG b/assets/TEO_by_links.JPG → fig/TEO_by_links.JPG
diff --git a/assets/cui-absolute-circuit.jpg → fig/cui-absolute-circuit.jpg b/assets/cui-absolute-circuit.jpg → fig/cui-absolute-circuit.jpg
diff --git a/assets/dh-drawing.png → fig/dh-drawing.png b/assets/dh-drawing.png → fig/dh-drawing.png
diff --git a/assets/editable/CAN.svg → fig/editable/CAN.svg b/assets/editable/CAN.svg → fig/editable/CAN.svg
diff --git a/assets/editable/Directions.svg → fig/editable/Directions.svg b/assets/editable/Directions.svg → fig/editable/Directions.svg
diff --git a/assets/editable/Joints_(can).svg → fig/editable/Joints_(can).svg b/assets/editable/Joints_(can).svg → fig/editable/Joints_(can).svg
diff --git a/assets/editable/Joints_(yarp).svg → fig/editable/Joints_(yarp).svg b/assets/editable/Joints_(yarp).svg → fig/editable/Joints_(yarp).svg
diff --git a/assets/editable/Jr3_50M31_corregido.pdf → fig/editable/Jr3_50M31_corregido.pdf b/assets/editable/Jr3_50M31_corregido.pdf → fig/editable/Jr3_50M31_corregido.pdf
diff --git a/assets/editable/Lengths.svg → fig/editable/Lengths.svg b/assets/editable/Lengths.svg → fig/editable/Lengths.svg
diff --git a/assets/editable/Masses.svg → fig/editable/Masses.svg b/assets/editable/Masses.svg → fig/editable/Masses.svg
diff --git a/assets/editable/dh-drawing.svg → fig/editable/dh-drawing.svg b/assets/editable/dh-drawing.svg → fig/editable/dh-drawing.svg
diff --git a/assets/editable/six-caps.zip → fig/editable/six-caps.zip b/assets/editable/six-caps.zip → fig/editable/six-caps.zip
diff --git a/assets/editable/teo-template.svg → fig/editable/teo-template.svg b/assets/editable/teo-template.svg → fig/editable/teo-template.svg
diff --git a/assets/emergency-buttons-connectors.jpg → fig/emergency-buttons-connectors.jpg b/assets/emergency-buttons-connectors.jpg → fig/emergency-buttons-connectors.jpg
diff --git a/assets/follow-me-app.png → fig/follow-me-app.png b/assets/follow-me-app.png → fig/follow-me-app.png
diff --git a/assets/jr3-circuit-connectors.jpg → fig/jr3-circuit-connectors.jpg b/assets/jr3-circuit-connectors.jpg → fig/jr3-circuit-connectors.jpg
diff --git a/assets/lacquey-fetch/README.md → fig/lacquey-fetch/README.md b/assets/lacquey-fetch/README.md → fig/lacquey-fetch/README.md
diff --git a/assets/lacquey-fetch/fetch-hand.pdf → fig/lacquey-fetch/fetch-hand.pdf b/assets/lacquey-fetch/fetch-hand.pdf → fig/lacquey-fetch/fetch-hand.pdf
diff --git a/assets/lacquey-fetch/proximal-falange.pdf → fig/lacquey-fetch/proximal-falange.pdf b/assets/lacquey-fetch/proximal-falange.pdf → fig/lacquey-fetch/proximal-falange.pdf
diff --git a/assets/main-switches.jpg → fig/main-switches.jpg b/assets/main-switches.jpg → fig/main-switches.jpg
diff --git a/assets/roboticslab-banner-350px.png → fig/roboticslab-banner-350px.png b/assets/roboticslab-banner-350px.png → fig/roboticslab-banner-350px.png
diff --git a/assets/technosoft-ipos-connectors.jpg → fig/technosoft-ipos-connectors.jpg b/assets/technosoft-ipos-connectors.jpg → fig/technosoft-ipos-connectors.jpg
diff --git a/assets/teo-link-names.pdf → fig/teo-link-names.pdf b/assets/teo-link-names.pdf → fig/teo-link-names.pdf
diff --git a/motores.md b/motores.md
diff --git a/appendix/c-teo-network-information.md → network-information.md b/appendix/c-teo-network-information.md → network-information.md
@@ -1,4 +1,4 @@
-# Appendix C: TEO Network Information
+# Network Information
 
 * [TEONET (main router)](#teonet-main-router)
 * [TL-WR2543ND: router configured as switch](#tl-wr2543nd-router-configured-as-switch)

diff --git a/overview/README.md b/overview/README.md
@@ -5,4 +5,4 @@
 * [Firmware](firmware.md)
 * [Demonstration](demonstration.md)
 * [Research](research.md)
-
+* [Development](development.md)
diff --git a/overview/architecture.md b/overview/architecture.md
@@ -7,4 +7,4 @@ There is technically no fixed software architecture. We use [YARP](http://www.ya
 
 The following is an example of a good functional working architecture, extracted from the [follow-me](https://github.com/roboticslab-uc3m/follow-me) demonstration repository.
 
-![follow-me app](../assets/follow-me-app.png)
+![follow-me app](../fig/follow-me-app.png)
diff --git a/development.md → overview/development.md b/development.md → overview/development.md
@@ -1,4 +1,4 @@
-# Development of TEO Humanoid Robot software
+# Overview: Development
 
 There are mainly to repositories concerned with development of TEO software, which are in fact defined at [roboticslab-uc3m](https://github.com/roboticslab-uc3m) organization level.
 

diff --git a/switches.md b/switches.md
@@ -2,5 +2,5 @@
 
 | **Main Switches** |
 | --- |
-| <a href="assets/main-switches.jpg"><img alt="main-switches" src="assets/main-switches.jpg" width="200" /></a> |
+| <a href="fig/main-switches.jpg"><img alt="main-switches" src="fig/main-switches.jpg" width="200" /></a> |
 
diff --git a/tables.md b/tables.md
@@ -0,0 +1,68 @@
+# Tables
+- [Joint Limits](#joint-limits)
+- [DH Parameter Table](#dh-parameter-table)
+- [Link Lengths](#link-lengths)
+- [Bill of materials (BOM)](#bill-of-materials-bom)
+- [Motores: motores](#motores-motores)
+- [Motores: protecciones-brazos](#motores-protecciones-brazos)
+- [Motores: protecciones-piernas](#motores-protecciones-piernas)
+- [Motores: transmision](#motores-transmision)
+
+## Joint Limits
+Can be found at [Motores: motores](/motores.md#motores-motores)
+
+## DH Parameter Table
+
+- Github: [dh-table.csv](/csv/dh-table.csv)
+- Gitbook: {% includeCsv src="../csv/dh-table.csv", useHeader="true" %}{% endincludeCsv %}
+
+## Link Lengths
+| lengths | distance [mm] | |
+| ------------ | ------------ | ------------ |
+| l0 | 193.2| |	
+| l1 | 305| |	
+| l2 | 162.5 | | 	
+| l3 | 59.742 | | 	
+| l4 | 37.508 | | 	
+| l5 | 346.92 | |	
+| l6 | 329.01 | |	
+| l7 | 202 | |	
+| l8 | 187.496 | Con F/T, a 2 cm debajo chapa final mano.|
+| l9 | 92 | 	
+| l10 | 330 | | 	
+| l11 | 300 | | 	
+| l12 | 123.005 | | 	
+| l13 | 146 | | 	
+| l14 | 18| | 	
+| l15 | 26 | | 	
+| l16 | 17.5 | | 	
+
+# Bill of materials (BOM)
+
+Device | Brand | Model | YARP device | Desciption/Comments
+---|---|---|---|---
+EC Motor|Maxon|F400108/F411815||F400108 -> wrists joints and axial legs<br/> F411815 -> the rest
+Motor Driver|Technosoft|iPOS 3602/3604/4808|TechnosoftIpos|3602 -> front wrist<br/>3604 -> all except legs and trunk<br/>4808 -> legs and trunk
+Relative Encoder|CUI Inc|AMT 203-V|TechnosoftIpos|
+Absolute Encoder|CUI Inc|AMT 203-V|CuiAbsolute|Uses PIC18F2580
+Force-Torque Sensor|JR3|50M31A3-125-DH|Jr3|50M31A3-125-DH -> wrist<br/>((( unknown ))) -> ankle
+Inertial Sensor|XSENS|MTi-28A53G35|xsensmtx|Product ID: MTi-28A53G35<br/> Device ID: 00305355<br/>
+RGBD Sensor|ASUS|XtionPRO Live|OpenNI2Server|RGB and Depth Sensor
+RGB Camera|Point Grey|Flea3 FL3-U3-88S2C-C|AravisGigE|USB3
+Fetch Hand|Lacquey|Fetch Hand|LacqueyFetch|Three finger underactuated
+
+## Motores: motores
+- Github: [motores-motores.csv](csv/motores-motores.csv)
+- Gitbook: {% includeCsv src="csv/motores-motores.csv", useHeader="true" %}{% endincludeCsv %}
+
+## Motores: protecciones-brazos
+- Github: [motores-protecciones-brazos.csv](csv/motores-protecciones-brazos.csv)
+- Gitbook: {% includeCsv src="csv/motores-protecciones-brazos.csv", useHeader="true" %}{% endincludeCsv %}
+
+## Motores: protecciones-piernas
+- Github: [motores-protecciones-piernas.csv](csv/motores-protecciones-piernas.csv)
+- Gitbook: {% includeCsv src="csv/motores-protecciones-piernas.csv", useHeader="true" %}{% endincludeCsv %}
+
+## Motores: transmision
+- Github: [motores-transmision.csv](csv/motores-transmision.csv)
+- Gitbook: {% includeCsv src="csv/motores-transmision.csv", useHeader="true" %}{% endincludeCsv %}