diff --git a/CMakeLists.txt b/CMakeLists.txt index 4cd988a..d03f582 100644 --- 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 index 29b879e..86a9e23 100644 --- 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 index bb6bad9..49902cc 100644 --- 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 index b6766e9..b05c2b0 100644 --- 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 deleted file mode 100644 index 6d5b608..0000000 --- a/appendix/a-teo-diagrams.md +++ /dev/null @@ -1,76 +0,0 @@ -# Appendix A: TEO Diagrams -- [Joint Indexes](#joint-indexes) -- [Joint Directions of Rotation](#joint-directions-of-rotation) -- [Joint Limits](#joint-limits) -- [DH Parameter Table](#dh-parameter-table) -- [DH Coordinate Systems Drawing](#dh-coordinate-systems-drawing) -- [Link Names](#link-names) -- [Link Lengths](#link-lengths) -- [COGs](#cogs) -- [F-T sensors](#f-t-sensors) -- [JR3 wrists drawings](#jr3-wrists-drawings) - -## Joint Indexes - -| Joint Indexes (CAN bus) |Joint Indexes (YARP ports) | -| ------------- | ------------- | -| DH | DH | - -## Joint Directions of Rotation -| Joint Directions of Rotation | -| ------------- | -| DH | - -## Joint Limits -Can be found at [Motores: motores](/motores.md#motores-motores) - -## DH Parameter Table - -- Github: [dh-table.csv](/assets/dh-table.csv) -- Gitbook: {% includeCsv src="../assets/dh-table.csv", useHeader="true" %}{% endincludeCsv %} - -## DH Coordinate Systems Drawing - -DH - -## Link Names - -- View original: [PDF](../assets/teo-link-names.pdf) - -## Link Lengths -DH DH - -| 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 | | - -## COGs -| COGs | -| ---------- | -| DH | - -## F-T sensors -| F-T sensors | -| ---------- | -| DH | - -## JR3 wrists drawings -| F-T sensors | -| ---------- | -| [File:Jr3 50M31 corregido.pdf](../assets/editable/Jr3_50M31_corregido.pdf) | diff --git a/bill-of-materials.md b/bill-of-materials.md deleted file mode 100644 index bc34c0f..0000000 --- a/bill-of-materials.md +++ /dev/null @@ -1,13 +0,0 @@ -# Bill of materials (BOM) - -Device | Brand | Model | YARP device | Desciption/Comments ----|---|---|---|--- -EC Motor|Maxon|F400108/F411815||F400108 -> wrists joints and axial legs
F411815 -> the rest -Motor Driver|Technosoft|iPOS 3602/3604/4808|TechnosoftIpos|3602 -> front wrist
3604 -> all except legs and trunk
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
((( unknown ))) -> ankle -Inertial Sensor|XSENS|MTi-28A53G35|xsensmtx|Product ID: MTi-28A53G35
Device ID: 00305355
-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 diff --git a/connectors.md b/connectors.md index abf129c..118a78c 100644 --- a/connectors.md +++ b/connectors.md @@ -2,8 +2,8 @@ | **Emergency Buttons Connectors** | **JR3 Circuit Connectors** | **Technosoft IPos Connectors** | **Cui Absolute Circuit Connectors** | | --- | --- | --- | --- | -| emergency-buttons-connectors | jr3-circuit-connectors | technosoft-ipos-connectors | cui-absolute-circuit | +| emergency-buttons-connectors | jr3-circuit-connectors | technosoft-ipos-connectors | cui-absolute-circuit | | **CAN Bus Connector** | | --- | -| CANconnector | +| CANconnector | diff --git a/assets/dh-table.csv b/csv/dh-table.csv similarity index 100% rename from assets/dh-table.csv rename to csv/dh-table.csv diff --git a/assets/motores-motores.csv b/csv/motores-motores.csv similarity index 100% rename from assets/motores-motores.csv rename to csv/motores-motores.csv diff --git a/assets/motores-protecciones-brazos.csv b/csv/motores-protecciones-brazos.csv similarity index 100% rename from assets/motores-protecciones-brazos.csv rename to csv/motores-protecciones-brazos.csv diff --git a/assets/motores-protecciones-piernas.csv b/csv/motores-protecciones-piernas.csv similarity index 100% rename from assets/motores-protecciones-piernas.csv rename to csv/motores-protecciones-piernas.csv diff --git a/assets/motores-transmision.csv b/csv/motores-transmision.csv similarity index 100% rename from assets/motores-transmision.csv rename to csv/motores-transmision.csv diff --git a/assets/teo-center-of-masses.csv b/csv/teo-center-of-masses.csv similarity index 100% rename from assets/teo-center-of-masses.csv rename to csv/teo-center-of-masses.csv diff --git a/appendix/d-demo-procedure.md b/demo-procedure.md similarity index 99% rename from appendix/d-demo-procedure.md rename to demo-procedure.md index 641b0d8..d6743d6 100644 --- a/appendix/d-demo-procedure.md +++ b/demo-procedure.md @@ -1,4 +1,4 @@ -# Appendix D: Demo Procedure +# Demo Procedure ## Preparación diff --git a/diagrams.md b/diagrams.md new file mode 100644 index 0000000..da2f99b --- /dev/null +++ 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) | +| ------------- | ------------- | +| DH | DH | + +## Joint Directions of Rotation +| Joint Directions of Rotation | +| ------------- | +| DH | + +## DH Coordinate Systems Drawing + +DH + +## Link Names + +- View original: [PDF](/fig/teo-link-names.pdf) + +## Link Lengths +DH DH + +## COGs +| COGs | +| ---------- | +| DH | + +## F-T sensors +| F-T sensors | +| ---------- | +| DH | + +## 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 b/dynamic-information.md similarity index 99% rename from appendix/b-teo-dynamic-information.md rename to dynamic-information.md index 2c2fdfa..91ce8ff 100644 --- a/appendix/b-teo-dynamic-information.md +++ b/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 b/fig/CAN.png similarity index 100% rename from assets/CAN.png rename to fig/CAN.png diff --git a/assets/Directions.png b/fig/Directions.png similarity index 100% rename from assets/Directions.png rename to fig/Directions.png diff --git a/assets/Ftsensors.png b/fig/Ftsensors.png similarity index 100% rename from assets/Ftsensors.png rename to fig/Ftsensors.png diff --git a/assets/Joints_(can).png b/fig/Joints_(can).png similarity index 100% rename from assets/Joints_(can).png rename to fig/Joints_(can).png diff --git a/assets/Joints_(yarp).png b/fig/Joints_(yarp).png similarity index 100% rename from assets/Joints_(yarp).png rename to fig/Joints_(yarp).png diff --git a/assets/Lengths.png b/fig/Lengths.png similarity index 100% rename from assets/Lengths.png rename to fig/Lengths.png diff --git a/assets/Masses.png b/fig/Masses.png similarity index 100% rename from assets/Masses.png rename to fig/Masses.png diff --git a/assets/README.md b/fig/README.md similarity index 85% rename from assets/README.md rename to fig/README.md index c59bdb4..1a992c9 100644 --- a/assets/README.md +++ b/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 b/fig/TEO_by_links.JPG similarity index 100% rename from assets/TEO_by_links.JPG rename to fig/TEO_by_links.JPG diff --git a/assets/cui-absolute-circuit.jpg b/fig/cui-absolute-circuit.jpg similarity index 100% rename from assets/cui-absolute-circuit.jpg rename to fig/cui-absolute-circuit.jpg diff --git a/assets/dh-drawing.png b/fig/dh-drawing.png similarity index 100% rename from assets/dh-drawing.png rename to fig/dh-drawing.png diff --git a/assets/editable/CAN.svg b/fig/editable/CAN.svg similarity index 100% rename from assets/editable/CAN.svg rename to fig/editable/CAN.svg diff --git a/assets/editable/Directions.svg b/fig/editable/Directions.svg similarity index 99% rename from assets/editable/Directions.svg rename to fig/editable/Directions.svg index 895ca92..e4b3a3a 100644 --- a/assets/editable/Directions.svg +++ b/fig/editable/Directions.svg @@ -15,7 +15,7 @@ version="1.1" inkscape:version="0.92.4 (33fec40, 2019-01-16)" sodipodi:docname="Directions.svg" - inkscape:export-filename="/home/teo/repos/teo-developer-manual/assets/Directions.png" + inkscape:export-filename="/home/teo/repos/teo-developer-manual/fig/Directions.png" inkscape:export-xdpi="96" inkscape:export-ydpi="96"> main-switches | +| main-switches | diff --git a/tables.md b/tables.md new file mode 100644 index 0000000..2740a8b --- /dev/null +++ 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
F411815 -> the rest +Motor Driver|Technosoft|iPOS 3602/3604/4808|TechnosoftIpos|3602 -> front wrist
3604 -> all except legs and trunk
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
((( unknown ))) -> ankle +Inertial Sensor|XSENS|MTi-28A53G35|xsensmtx|Product ID: MTi-28A53G35
Device ID: 00305355
+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 %}