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[OpenCR] Operation

Upload Controller Program

Find example source codes.

Go to Examples > OpenManipulator > example > Chain > open_manipulator_chain on Arduino IDE for OpenCR.

Upload the example source to OpenCR.

When the upload is completed, the following comments are displayed in the log window.

Please check each joint position before running OpenMANIPULATOR-X. It might stop operation because of joint position out of range.
The picture on the below is showing you the ideal pose of OpenMANIPULATOR-X. Please adjust each joints along with the following picture when DYNAMIXEL torque isn’t enabled.

WARNING : Please refer to below default DYNAMIXEL configuration for OpenMANIPULATOR-X chain if you have a custom manipulator.

Joint ID Baudrate
1 11 1 Mbps
2 12 1 Mbps
3 13 1 Mbps
4 14 1 Mbps
Gripper 15 1 Mbps

TIP : If an error of cmd_read_board_name fail: 0xF020 occurs constantly during upload, please refer to OpenCR e-Manual to enter the firmware recovery mode and upload the source code again after entering mode.

Setup Processing(GUI)

  1. Download Processing from blow link and install.

  2. Launch Processing and go to Tools > Add Tool...

  3. Search for ControlP5 and install it.

  4. Download processing source code for OpenMANIPULATOR.

     $ git clone https://github.com/ROBOTIS-GIT/open_manipulator_processing.git

Launch Processing(GUI)

WARNING : OpenCR1.0 must be connected to OpenMANIPULATOR-X before launching Processing. Press Reset Button of OpenCR1.0 to enable torque for OpenMANIPULATOR-X.

  1. Connect USB cable and power supply to OpenCR1.0.

  2. Turn on the OpenCR1.0 switch.

  3. Press Reset Button of OpenCR1.0 and check DYNAMIXEL’s of OpenMANIPULATOR-X are torque enabled.

  4. Search downloaded processing file from Folder where you downloaded the source code > open_manipulator_processing > Chain > Chain.pde and open it on Processing IDE.

    NOTE: Upload OpenCR OpenMANIPULATOR example to OpenCR before running Processing example.

  5. Run the processing source code, and the following graphical GUI will be displayed.

Tip: If the processing console displays an error message and the GUI does not run normally, check the following:

  • Check if ControlP5 is properly installed.
  • Check if the graphics driver is installed properly.
  • Check if the Java library is properly installed.

If you have checked the above and it does not work normally, I recommend running it in a different OS environment (Windows, mac, linux).

Control Interface

NOTE: Upload OpenCR example source code to OpenCR before run processing source code.

The user can use processing program to manipulate the OpenMANIPULATOR.

To manipulate the OpenMANIPULATOR, click the toggle button to CONTROLLER ON.

The user can manipulate the OpenMANIPULATOR-X in the joint space. Set the joint angles. Then click the SEND JOINT ANGLE button. And set the gripper parameter. Then click the SET GRIPPER button.

The user can manipulate the OpenMANIPULATOR-X in the task space. Click the TASK SPACE CONTROL button to change the tab. Click the desired direction button to manipulate the OpenMANIPULATOR.

Hand Guiding

The user can make the demonstration using hand guiding function.

  1. Click the HAND GUIDING button to change the tab.
  2. Holds the OpenMANIPULATOR-X by hand and click the toggle button to TORQUE OFF.
  3. Move the OpenMANIPULATOR-X to the desired pose by hand.
  4. Click the SAVE JOINT POSE to save the present pose.
  5. Repeat step 3 and 4 to create the demonstration.
  6. Click the toggle button to TORQUE ON
  7. Click the MOTION START button to start the saved poses.

Click the toggle button to MOTION REPEAT ON if you want to repeat the demonstration. The total time of the trajectory between saved poses is the same as 2 seconds.

Teleoperation RC100

The settings for ROBOTIS RC-100B controller is included in the OpenCR firmware for OpenMANIPULATOR. This controller can be used with the Bluetooth module BT-410.