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Hello, I experiment some jumps when turning on interaction option. Even when low impedance command, the arm jumps when I send interaction command. Is there any mean to avoid this behaviour ? Thanks, Guillaume Padiolleau
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Hello everybody I am looking to make a configuration to the banner module to be able to resume task. Has anyone done this? I already made a connection with the module via usb connection, and i configure an external Stop Emergency, but I don't understand how to connect the inputs IN11, IN12, IN13 and the sawyer can be activated like show This is the "program" I appreciate the help you can give me. Best regards!
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Limb's IK Request when changing endpoint tool in URDF
Padiolleau Guillaume replied to Padiolleau Guillaume's topic in Robot
Edit: [Solved] - The arm stopped to go crazy. I made a mistake in units for inertial part of links definition in URDF file. Make sure you have kg/m² and not kg/mm² (output of some CAD software). - I solve the Segmentation Fault bug. It came from the ROS parameter tip_name and gravity_tip_name that were trying to reach an unexisting link (but it was defined in my URDF file). To solve this : - compile your xacro file in URDF using the ros script xacro "$ rosrun xacro xacro my_file.urdf.xacro > my_file.urdf" and check if the resulting URDF file is correct - compile your URDF file in SDF format using Gazebo "$ gzsdf -p my_file.urdf > my_file.sdf" and check if you can find all of your links. Because of the lumping in Gazebo, some of your link will "disappear", combined in one more global link, if they are connected through fixed joints. For example, my third joint in the chain was a "revolute" joint, however it followed 2 fixed joint and because of the lumping the third (even a revolute) disappeared and the last link (my tip) disappeared with. Then ROS was trying to get this link as tip and causes gzserver to crash. Not obvious at all, I was going crazy... To solve my chain, I add a "fake" link between 1st and 2nd links. I fixed the 1st one with the right_hand, and the fake_link. Then I fixed 2nd link and fake_link, and my 3rd link with fake_link too. I must do that, because I have a FT_sensor between 2nd and 3rd links that needed to be attached on a joint. But this FT_feedback joint must NOT disappear in SDF else the ft_plugin will crash. So you have to tell Gazebo to disableFixedJointLumping on this joint, however if there is a more-than-1-joint chain of fixed joint this does not work properly... So, the fake_link enable to disable the lumping by attaching 2 links on one fake_links. Tricky, but it works. I any of you faces similar issues, feel free to ask here I could probably help you. Guillaume Padiolleau -
Limb's IK Request when changing endpoint tool in URDF
Padiolleau Guillaume replied to Padiolleau Guillaume's topic in Robot
Edit: I think I sovled the second part: I had the wrong gravity_tip_name and tip_name for rosparam in launch file. BUT, I now cannot add my full tool chain (hand_interface + sensor + tool). I can just add the hand_interface and the sensor without the libgazebo_ros_ft_sensor.so plugin. If I add the tool (without plugin) gzserver run into SegFault Core Dump and the tool (specifically, idk why) does not appear or not spawn. If I add the ft plugin, it don't find the sensor joint and same scenario tool does not appear and gzserver fall inot SegFault...Any Idea ? In the second hand, the arm goes really crazy when attempting to compensate gravity as you can see in the attached video ... Thanks for your help. gazebo-2020-09-03_15.48.28 -
Hello, I'm working on Sawyer arm in simulation & with real one in SDK mode, and have Intera 5.3. I added new tools we developed in robot description URDF file. When I launch a simulation through Gazebo, I can see the tool I selected. This part is ok. But, I have 2 problems in Gazebo simulation: - First, when no command is sent to the robot in simulation, the arm constantly moves. It seems that the gravity compensation cannot compute right commands to get the arm not moving. I may have missed something in my URDF files. (I set inertial and mass part) - Second, using the Limb class IK_request function seems not working with new endpoint tool. If I try running an IK request without modifying the end_point arg (default is "right_hand") it says it cannot find a kinematic chain between base and this endpoint. Which normal, since it is not my endpoint tool link name in URDF file. But if is set it to the right link name (say "ttt_tool" as defined in my URDF file) then the IK solver can never find a solution whatever is the given position/orientation point requested. I must have missed somthing in configuration ? I also have another question: Since in Gazebo simulation we have to specify the endpoint in Limb()._ik_request function which refers to the link name in urdf file, do we have anything to specify for real world robot when changing the endpoint tool ? Thank you for reading and for future help. (I recreated the topic because I cannot edit the first one with no reason since I had a Gateway Time-out when editing it first time, the forum crashed down) Guillaume Padiolleau, PhD student
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Hello. For purpose of documentation, our customer has requested information I wasn't able to find anywhere. How long does it take for the robot to go to full halt after emergency stop button is pressed? The information is requested with milisecond precision. Can anyone answer me please?
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Has anyone come across this issue? I have tried reinstalling 5.3 on the sawyer. I am not able to resolve this issues and connect to the robot IO. This poses some issues as I can not receive/send signals from the Moxa controller.
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Object detection using Sawyer Camera for the Pick and Place Operation
Joshua Sebastian posted a topic in Robot
Hi, I need help in doing a simple pick and place task with the Sawyer robot in the Gazebo simulator. I tried the IK pick and place script which was provided but the gripper always used to miss pick the cube. Is there a way to integrate the OpenCV with the IK pick and place script so that the robot can detect the objects kept on a table and perform the operation in the right manner. Also, is there a way that the edge detection algorithm can be used for the pick and place operation? Please let me know of the resources, methodologies or scripts available for testing purposes. I also want to know if its possible to use a kinect sensor to help the robot in the pick and place operation. Thanks! -
Does anyone know if it's possible to use the SDK to program a TCP command to be sent any time a task is run?
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Raphael changed their profile photo
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Thomas changed their profile photo
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But mine is J4
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Hello Sheldon, I have the same error on my Sawyer, it might be from Series elastic actuators, it goes all the way till reach the stopping point. I have this error only using the Zero- mode... But still await for an answer back... BR ~Florin
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Safety Relay on the Sawyer malfunction for external safety trigger
Eric Prieto replied to Gomzy04's topic in Robot
I could download and install to my safety relay, using the Banner Safety Controller Software (I have installed), but I don't have the firmware used by Rethink Robotics in newers version of Cobots (March 2017 until now), I have tried to contact Rethink Robotics, but I didn't get response from them yet, and my distributor doesn't knows how to do it or how to consult it. -
Safety Relay on the Sawyer malfunction for external safety trigger
Eric Prieto replied to Gomzy04's topic in Robot
Who (from Rethink Robotics) supported you on it? Who (from Rethink Robotics) supported you on it? -
Safety Relay on the Sawyer malfunction for external safety trigger
Eric Prieto replied to Gomzy04's topic in Robot
I could download and install to my safety relay, using the Banner Safety Controller Software (I have installed), but I don't have the firmware used by Rethink Robotics in newers version of Cobots (March 2017 until now), I have tried to contact Rethink Robotics, but I didn't get response from them yet, and my distributor doesn't knows how to do it or how to consult it. -
Safety Relay on the Sawyer malfunction for external safety trigger
Eric Prieto replied to Gomzy04's topic in Robot
Do you have this firmware? -
Safety Relay on the Sawyer malfunction for external safety trigger
Gomzy04 replied to Gomzy04's topic in Robot
Hi Eric, Yes, I did after a bit of a challenge from the Techsupport. Upon robot delivery, the safety PLC is not configured for external PLC control. You need to ask for a safety PLC software upgrade file and steps on how to load it on the Banner safety PLC from your local support, and this will solve everything if the sawyer is running the latest firmware. Depending on your external safety devices you can then choose appropriate signals. Shame there is no option to pause/stop the main task externally. It has to be through software logic triggered on a digital input signal or Comms through a PLC. I hope this helps. Regards Ash -
Safety Relay on the Sawyer malfunction for external safety trigger
Eric Prieto replied to Gomzy04's topic in Robot
Can anyone help with this? -
Safety Relay on the Sawyer malfunction for external safety trigger
Eric Prieto replied to Gomzy04's topic in Robot
I want to do the same, did you solved it? -
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in case anyone else has the same problem. figured out what the problem is. the connection cable between the arm and the control box is a deficit. replacing the cable fixed the problem.
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Hi, All, I just purchased a sawyer robot and it is not functional. When I boot it, it shows configuration failures, as shown in the photo 1 attached. and when I run a diagnosis, I think it finds JCB configuration errors, as shown in photo 2 and 3. any help will be very appreciated! thank you in advance!
