ROBOTIS THORMANG3

ROS Packages for ROBOTIS THORMANG3 MPC

Version	Kinetic + Ubuntu Xenial	Melodic + Ubuntu Bionic
		-

ROBOTIS e-Manual for ROBOTIS THORMANG3

ROBOTIS e-Manual for ROBOTIS THORMANG3

Wiki for thormang3_mpc Packages

Open Source related to ROBOTIS THORMANG3

Documents and Videos related to ROBOTIS THORMANG3

What is THORMANG3?

THOR (Tactical Hazardous Operations Robot) is an affordable, full size humanoid robot platform with advanced computational power, sophisticated sensors, high payload capacity, and dynamic motion abilities to enable many exciting researches and educational activities.

Hardware

Feature	Description
DOF	29
Actuator	200W x 10 / 100W x 11 / 20W x 8
Computer	Intel® NUC with Intel® Core™ i5 Processor (DDR4 RAM 8GB / M.2 SSD 128GB) x2
Wireless router	Dlink DIR-806A x 1
Sensor	Logitech C920 HD Camera x 1 Intel Realsense(Option) x 1 Hokuyo UTM-30LX-EW(Option) x 1 F/T: ATi Mini58-SI-2800-120 x 2 IMU: MicroSrain 3DM-GX4-25 x 1
Battery	22V, 22000mA x 1 18.5V, 11000mA x 1
Height	137.5cm
Weight	42Kg

Software

The followings are source code development environments.

OS : Linux (Ubuntu LTS 64-bit) with ROS (Robot Operating System)
Compiler : GNU project C and C++ Compiler
Programming Language : C++

robotis-thormang-mpc's People

Contributors

Stargazers

Watchers

robotis-thormang-mpc's Issues

Forward Kinematics giving wrong result

I have been working with a single arm and the forward, inverse kinematics were working correctly. I've recently assembled my dual arm robot with a torso frame connecting the torso motors to the shoulder motors (similar to the Thormang). After that the forward kinematics has been giving the wrong result because of which the end effector reaches a position different from the desired position. Do you have any idea how this might be happening?

Also, why have you added the offset and passive links in the data at the start of the ManipulatorKinematicsDynamics.cpp?

Any help will be much appreciated. Thank you!

Control cycle and real time kernel

Does thormang 3 apply any real time patch such as PREEMPT_RT to assure its control cycle?

I do not find any description about it in the instruction of how to set up MPC.

Why urg node is launched in MPC

When I was reading the code launching urg node, I found that it is launched in MPC.
https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-MPC/blob/master/thormang3_manager/launch/thormang3_manager.launch#L22

Why not in PPC?

Question about the ATI forcesensor

Hi guys,
Sorry for disturbing you.
I am going to run force sensor on ubuntu 18.04. I used ot NI card to recorded the force value.
But I did't find the driver for the NI card.
DO you have any experience on that?
Best wishes,
Zhongliang

Meaning of TWE

What does "TWE" means in the end of the name "ATIForceTorqueSensorTWE"?

Joint calibration

Is there any other way than offset_tuner?

There is an instruction of how to use thormang3_offset_tuner, but it does not provide any information about how our tuning is precise.

What is your standard measure of joint calibration?

Recommend Projects

robotis-git / robotis-thormang-mpc Goto Github PK

robotis-thormang-mpc's Introduction