http://hsi.gatech.edu/hrl-wiki/index.php?title=Tilting_Hokuyo&feed=atom&action=history 2013-05-26T04:50:21Z Revision history for this page on the wiki MediaWiki 1.20.6 http://hsi.gatech.edu/hrl-wiki/index.php?title=Tilting_Hokuyo&diff=973&oldid=prev 2012-01-20T19:38:03Z

<p></p> <table class='diff diff-contentalign-left'> <col class='diff-marker' /> <col class='diff-content' /> <col class='diff-marker' /> <col class='diff-content' /> <tr style='vertical-align: top;'> <td colspan='2' style="background-color: white; color:black;">← Older revision</td> <td colspan='2' style="background-color: white; color:black;">Revision as of 19:38, 20 January 2012</td> </tr><tr><td colspan="2" class="diff-lineno">Line 28:</td> <td colspan="2" class="diff-lineno">Line 28:</td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>[[Image:utm-servo-bracket.jpg|thumb| Image of the solidworks part for the bracket to mount the UTM on to the servo.]]</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>[[Image:utm-servo-bracket.jpg|thumb| Image of the solidworks part for the bracket to mount the UTM on to the servo.]]</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>This is the hardware setup that we use:</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>This is the hardware setup that we use:</div></td></tr> <tr><td class='diff-marker'>−</td><td style="background: #ffa; color:black; font-size: smaller;"><div>* Tilting servo: Robotis Servo (typically we use RX-28) <del class="diffchange diffchange-inline">[http://www.trossenrobotics.com/dynamixel-rx-28-robot-actuator.aspx?af=Hizook Trossen Robotics] </del>[http://www.crustcrawler.com/motors/RX28/index.php?prod=66 CrustCrawler]</div></td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div>* Tilting servo: Robotis Servo (typically we use RX-28) [http://www.crustcrawler.com/motors/RX28/index.php?prod=66 CrustCrawler]</div></td></tr> <tr><td class='diff-marker'>−</td><td style="background: #ffa; color:black; font-size: smaller;"><div>* This gives a serial interface to control the servo: <del class="diffchange diffchange-inline">[http://www.trossenrobotics.com/robotis-bioloid-usb2dynamixel.aspx?af=Hizook Trossen Robotics] </del>[http://www.crustcrawler.com/electronics/USB2Dynamixel/index.php?prod=65 CrustCrawler]</div></td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div>* This gives a serial interface to control the servo: [http://www.crustcrawler.com/electronics/USB2Dynamixel/index.php?prod=65 CrustCrawler]</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Hokuyo UTM. (http://www.acroname.com/robotics/parts/R314-HOKUYO-LASER4.html)</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Hokuyo UTM. (http://www.acroname.com/robotics/parts/R314-HOKUYO-LASER4.html)</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Bracket to mount the Hokuyo on to the servo.</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Bracket to mount the Hokuyo on to the servo.</div></td></tr> </table>

Advaitjain http://hsi.gatech.edu/hrl-wiki/index.php?title=Tilting_Hokuyo&diff=672&oldid=prev 2010-12-13T21:21:02Z

<p></p> <table class='diff diff-contentalign-left'> <col class='diff-marker' /> <col class='diff-content' /> <col class='diff-marker' /> <col class='diff-content' /> <tr style='vertical-align: top;'> <td colspan='2' style="background-color: white; color:black;">← Older revision</td> <td colspan='2' style="background-color: white; color:black;">Revision as of 21:21, 13 December 2010</td> </tr><tr><td colspan="2" class="diff-lineno">Line 28:</td> <td colspan="2" class="diff-lineno">Line 28:</td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>[[Image:utm-servo-bracket.jpg|thumb| Image of the solidworks part for the bracket to mount the UTM on to the servo.]]</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>[[Image:utm-servo-bracket.jpg|thumb| Image of the solidworks part for the bracket to mount the UTM on to the servo.]]</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>This is the hardware setup that we use:</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>This is the hardware setup that we use:</div></td></tr> <tr><td class='diff-marker'>−</td><td style="background: #ffa; color:black; font-size: smaller;"><div>* Tilting servo: Robotis Servo (typically we use RX-28) [http://www.trossenrobotics.com/dynamixel-rx-28-robot-actuator.aspx?af=Hizook<del class="diffchange diffchange-inline">|</del>Trossen Robotics] [http://www.crustcrawler.com/motors/RX28/index.php?prod=66<del class="diffchange diffchange-inline">|</del>CrustCrawler]</div></td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div>* Tilting servo: Robotis Servo (typically we use RX-28) [http://www.trossenrobotics.com/dynamixel-rx-28-robot-actuator.aspx?af=Hizook Trossen Robotics] [http://www.crustcrawler.com/motors/RX28/index.php?prod=66 CrustCrawler]</div></td></tr> <tr><td class='diff-marker'>−</td><td style="background: #ffa; color:black; font-size: smaller;"><div>* This gives a serial interface to control the servo: [http://www.trossenrobotics.com/robotis-bioloid-usb2dynamixel.aspx?af=Hizook<del class="diffchange diffchange-inline">|</del>Trossen Robotics] [http://www.crustcrawler.com/electronics/USB2Dynamixel/index.php?prod=65<del class="diffchange diffchange-inline">|</del>CrustCrawler]</div></td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div>* This gives a serial interface to control the servo: [http://www.trossenrobotics.com/robotis-bioloid-usb2dynamixel.aspx?af=Hizook Trossen Robotics] [http://www.crustcrawler.com/electronics/USB2Dynamixel/index.php?prod=65 CrustCrawler]</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Hokuyo UTM. (http://www.acroname.com/robotics/parts/R314-HOKUYO-LASER4.html)</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Hokuyo UTM. (http://www.acroname.com/robotics/parts/R314-HOKUYO-LASER4.html)</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Bracket to mount the Hokuyo on to the servo.</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Bracket to mount the Hokuyo on to the servo.</div></td></tr> </table>

Tdeyle http://hsi.gatech.edu/hrl-wiki/index.php?title=Tilting_Hokuyo&diff=671&oldid=prev 2010-12-13T21:19:51Z

<p></p> <table class='diff diff-contentalign-left'> <col class='diff-marker' /> <col class='diff-content' /> <col class='diff-marker' /> <col class='diff-content' /> <tr style='vertical-align: top;'> <td colspan='2' style="background-color: white; color:black;">← Older revision</td> <td colspan='2' style="background-color: white; color:black;">Revision as of 21:19, 13 December 2010</td> </tr><tr><td colspan="2" class="diff-lineno">Line 28:</td> <td colspan="2" class="diff-lineno">Line 28:</td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>[[Image:utm-servo-bracket.jpg|thumb| Image of the solidworks part for the bracket to mount the UTM on to the servo.]]</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>[[Image:utm-servo-bracket.jpg|thumb| Image of the solidworks part for the bracket to mount the UTM on to the servo.]]</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>This is the hardware setup that we use:</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>This is the hardware setup that we use:</div></td></tr> <tr><td class='diff-marker'>−</td><td style="background: #ffa; color:black; font-size: smaller;"><div>* Tilting servo: Robotis Servo (typically we use RX-28) http://www.crustcrawler.com/motors/RX28/index.php?prod=66</div></td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div>* Tilting servo: Robotis Servo (typically we use RX-28) <ins class="diffchange diffchange-inline">[http://www.trossenrobotics.com/dynamixel-rx-28-robot-actuator.aspx?af=Hizook|Trossen Robotics] [</ins>http://www.crustcrawler.com/motors/RX28/index.php?prod=66<ins class="diffchange diffchange-inline">|CrustCrawler]</ins></div></td></tr> <tr><td class='diff-marker'>−</td><td style="background: #ffa; color:black; font-size: smaller;"><div>* This gives a serial interface to control the servo: http://www.crustcrawler.com/electronics/USB2Dynamixel/index.php?prod=65</div></td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div>* This gives a serial interface to control the servo: <ins class="diffchange diffchange-inline">[http://www.trossenrobotics.com/robotis-bioloid-usb2dynamixel.aspx?af=Hizook|Trossen Robotics] [</ins>http://www.crustcrawler.com/electronics/USB2Dynamixel/index.php?prod=65<ins class="diffchange diffchange-inline">|CrustCrawler]</ins></div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Hokuyo UTM. (http://www.acroname.com/robotics/parts/R314-HOKUYO-LASER4.html)</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Hokuyo UTM. (http://www.acroname.com/robotics/parts/R314-HOKUYO-LASER4.html)</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Bracket to mount the Hokuyo on to the servo.</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Bracket to mount the Hokuyo on to the servo.</div></td></tr> </table>

Tdeyle http://hsi.gatech.edu/hrl-wiki/index.php?title=Tilting_Hokuyo&diff=590&oldid=prev 2010-08-19T22:07:54Z

<p>‎<span dir="auto"><span class="autocomment">Hardware</span></span></p> <table class='diff diff-contentalign-left'> <col class='diff-marker' /> <col class='diff-content' /> <col class='diff-marker' /> <col class='diff-content' /> <tr style='vertical-align: top;'> <td colspan='2' style="background-color: white; color:black;">← Older revision</td> <td colspan='2' style="background-color: white; color:black;">Revision as of 22:07, 19 August 2010</td> </tr><tr><td colspan="2" class="diff-lineno">Line 33:</td> <td colspan="2" class="diff-lineno">Line 33:</td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Bracket to mount the Hokuyo on to the servo.</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* Bracket to mount the Hokuyo on to the servo.</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>** This is a custom part that we have designed.</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>** This is a custom part that we have designed.</div></td></tr> <tr><td class='diff-marker'>−</td><td style="background: #ffa; color:black; font-size: smaller;"><div>** The solidworks CAD file ([[Media:utm-servo-bracket.sldprt|utm-servo-bracket.sldprt]]). This requires Solidworks 2009.</div></td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div>** The solidworks CAD file ([[Media:utm-servo-bracket.sldprt|utm-servo-bracket.sldprt<ins class="diffchange diffchange-inline">]], [[Media:utm-servo-bracket.igs|utm-servo-bracket.igs</ins>]]). This requires Solidworks 2009.</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>** We have taken two routes for making the bracket</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>** We have taken two routes for making the bracket</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>**# buy Aluminium channels from http://mcmastercarr.com and drill the appropriate holes.</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>**# buy Aluminium channels from http://mcmastercarr.com and drill the appropriate holes.</div></td></tr> </table>

Advaitjain http://hsi.gatech.edu/hrl-wiki/index.php?title=Tilting_Hokuyo&diff=569&oldid=prev 2010-07-29T04:05:14Z

<p>‎<span dir="auto"><span class="autocomment">Author</span></span></p> <table class='diff diff-contentalign-left'> <col class='diff-marker' /> <col class='diff-content' /> <col class='diff-marker' /> <col class='diff-content' /> <tr style='vertical-align: top;'> <td colspan='2' style="background-color: white; color:black;">← Older revision</td> <td colspan='2' style="background-color: white; color:black;">Revision as of 04:05, 29 July 2010</td> </tr><tr><td colspan="2" class="diff-lineno">Line 1:</td> <td colspan="2" class="diff-lineno">Line 1:</td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>== Author ==</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>== Author ==</div></td></tr> <tr><td class='diff-marker'>−</td><td style="background: #ffa; color:black; font-size: smaller;"><div>Advait Jain (http://www.cc.gatech.edu/~advait)</div></td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div>Advait Jain (http://www.cc.gatech.edu/~advait)<ins class="diffchange diffchange-inline">, Advisor: Prof. Charlie Kemp</ins></div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>== What this does ==</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>== What this does ==</div></td></tr> </table>

Advaitjain http://hsi.gatech.edu/hrl-wiki/index.php?title=Tilting_Hokuyo&diff=503&oldid=prev 2010-07-13T00:04:37Z

<p>‎<span dir="auto"><span class="autocomment">Power</span></span></p> <table class='diff diff-contentalign-left'> <col class='diff-marker' /> <col class='diff-content' /> <col class='diff-marker' /> <col class='diff-content' /> <tr style='vertical-align: top;'> <td colspan='2' style="background-color: white; color:black;">← Older revision</td> <td colspan='2' style="background-color: white; color:black;">Revision as of 00:04, 13 July 2010</td> </tr><tr><td colspan="2" class="diff-lineno">Line 51:</td> <td colspan="2" class="diff-lineno">Line 51:</td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* 12V goes to the servo only. Notice that a cable on the USB2Dynamixel is clipped. This is intentional and is the one that is labeled N/C on the USB2Dynamixel. Connecting 12V to that causes the USB2Dynamixel to burn.</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* 12V goes to the servo only. Notice that a cable on the USB2Dynamixel is clipped. This is intentional and is the one that is labeled N/C on the USB2Dynamixel. Connecting 12V to that causes the USB2Dynamixel to burn.</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* The rest of the wiring from the USB2Dynamixel is simply straight connections for the RS485 communication.</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* The rest of the wiring from the USB2Dynamixel is simply straight connections for the RS485 communication.</div></td></tr> <tr><td colspan="2">&#160;</td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div><ins style="color: red; font-weight: bold; text-decoration: none;"></ins></div></td></tr> <tr><td colspan="2">&#160;</td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div><ins style="color: red; font-weight: bold; text-decoration: none;">==== Troubleshooting ====</ins></div></td></tr> <tr><td colspan="2">&#160;</td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div><ins style="color: red; font-weight: bold; text-decoration: none;"></ins></div></td></tr> <tr><td colspan="2">&#160;</td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div><ins style="color: red; font-weight: bold; text-decoration: none;">* The RX28's communicate using RS485 protocol. Ensure that the USB2Dynamixel toggle switch is set to RS485.</ins></div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>== Code ==</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>== Code ==</div></td></tr> </table>

Advaitjain http://hsi.gatech.edu/hrl-wiki/index.php?title=Tilting_Hokuyo&diff=502&oldid=prev 2010-07-13T00:01:52Z

<p>‎<span dir="auto"><span class="autocomment">Power</span></span></p> <table class='diff diff-contentalign-left'> <col class='diff-marker' /> <col class='diff-content' /> <col class='diff-marker' /> <col class='diff-content' /> <tr style='vertical-align: top;'> <td colspan='2' style="background-color: white; color:black;">← Older revision</td> <td colspan='2' style="background-color: white; color:black;">Revision as of 00:01, 13 July 2010</td> </tr><tr><td colspan="2" class="diff-lineno">Line 46:</td> <td colspan="2" class="diff-lineno">Line 46:</td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>[[Image:robotis-servo-power.jpg|thumb| Image showing how we power the Robotis servos and connect to the USB2Dynamixel converter.]]</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>[[Image:robotis-servo-power.jpg|thumb| Image showing how we power the Robotis servos and connect to the USB2Dynamixel converter.]]</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>The image on the right shows how we power the Robotis servos and connect to the USB2Dynamixel converter.</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>The image on the right shows how we power the Robotis servos and connect to the USB2Dynamixel converter.</div></td></tr> <tr><td class='diff-marker'>−</td><td style="background: #ffa; color:black; font-size: smaller;"><div>* The block labeled 12V is a power supply that takes unregulated 24V as input and gives 12V regulated as output. Regulated power is not required for the servos but we also use the same power supply for Hokuyos and so find it convenient. RX28 servos can take between 12V and 16V (I think. Please read the manual to confirm).</div></td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div>* The block labeled 12V is a power supply that takes unregulated 24V as input <ins class="diffchange diffchange-inline">(red and white cables ending in a connector) </ins>and gives 12V regulated as output. Regulated power is not required for the servos but we also use the same power supply for Hokuyos and so find it convenient. RX28 servos can take between 12V and 16V (I think. Please read the manual to confirm).</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* The output of this power block in the image is are the green (GND) and red (12V) wires.</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* The output of this power block in the image is are the green (GND) and red (12V) wires.</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* GND goes to both the USB2Dynamixel and the Robotis servo.</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>* GND goes to both the USB2Dynamixel and the Robotis servo.</div></td></tr> </table>

Advaitjain http://hsi.gatech.edu/hrl-wiki/index.php?title=Tilting_Hokuyo&diff=501&oldid=prev 2010-07-13T00:01:14Z

<p>‎<span dir="auto"><span class="autocomment">Power</span></span></p> <table class='diff diff-contentalign-left'> <col class='diff-marker' /> <col class='diff-content' /> <col class='diff-marker' /> <col class='diff-content' /> <tr style='vertical-align: top;'> <td colspan='2' style="background-color: white; color:black;">← Older revision</td> <td colspan='2' style="background-color: white; color:black;">Revision as of 00:01, 13 July 2010</td> </tr><tr><td colspan="2" class="diff-lineno">Line 45:</td> <td colspan="2" class="diff-lineno">Line 45:</td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>==== Power ====</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>==== Power ====</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>[[Image:robotis-servo-power.jpg|thumb| Image showing how we power the Robotis servos and connect to the USB2Dynamixel converter.]]</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>[[Image:robotis-servo-power.jpg|thumb| Image showing how we power the Robotis servos and connect to the USB2Dynamixel converter.]]</div></td></tr> <tr><td colspan="2">&#160;</td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div><ins style="color: red; font-weight: bold; text-decoration: none;">The image on the right shows how we power the Robotis servos and connect to the USB2Dynamixel converter.</ins></div></td></tr> <tr><td colspan="2">&#160;</td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div><ins style="color: red; font-weight: bold; text-decoration: none;">* The block labeled 12V is a power supply that takes unregulated 24V as input and gives 12V regulated as output. Regulated power is not required for the servos but we also use the same power supply for Hokuyos and so find it convenient. RX28 servos can take between 12V and 16V (I think. Please read the manual to confirm).</ins></div></td></tr> <tr><td colspan="2">&#160;</td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div><ins style="color: red; font-weight: bold; text-decoration: none;">* The output of this power block in the image is are the green (GND) and red (12V) wires.</ins></div></td></tr> <tr><td colspan="2">&#160;</td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div><ins style="color: red; font-weight: bold; text-decoration: none;">* GND goes to both the USB2Dynamixel and the Robotis servo.</ins></div></td></tr> <tr><td colspan="2">&#160;</td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div><ins style="color: red; font-weight: bold; text-decoration: none;">* 12V goes to the servo only. Notice that a cable on the USB2Dynamixel is clipped. This is intentional and is the one that is labeled N/C on the USB2Dynamixel. Connecting 12V to that causes the USB2Dynamixel to burn.</ins></div></td></tr> <tr><td colspan="2">&#160;</td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div><ins style="color: red; font-weight: bold; text-decoration: none;">* The rest of the wiring from the USB2Dynamixel is simply straight connections for the RS485 communication.</ins></div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>== Code ==</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>== Code ==</div></td></tr> </table>

Advaitjain http://hsi.gatech.edu/hrl-wiki/index.php?title=Tilting_Hokuyo&diff=499&oldid=prev 2010-07-12T23:54:37Z

<p>‎<span dir="auto"><span class="autocomment">Hardware</span></span></p> <table class='diff diff-contentalign-left'> <col class='diff-marker' /> <col class='diff-content' /> <col class='diff-marker' /> <col class='diff-content' /> <tr style='vertical-align: top;'> <td colspan='2' style="background-color: white; color:black;">← Older revision</td> <td colspan='2' style="background-color: white; color:black;">Revision as of 23:54, 12 July 2010</td> </tr><tr><td colspan="2" class="diff-lineno">Line 44:</td> <td colspan="2" class="diff-lineno">Line 44:</td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>==== Power ====</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>==== Power ====</div></td></tr> <tr><td colspan="2">&#160;</td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div><ins style="color: red; font-weight: bold; text-decoration: none;">[[Image:robotis-servo-power.jpg|thumb| Image showing how we power the Robotis servos and connect to the USB2Dynamixel converter.]]</ins></div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>== Code ==</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>== Code ==</div></td></tr> </table>

Advaitjain http://hsi.gatech.edu/hrl-wiki/index.php?title=Tilting_Hokuyo&diff=498&oldid=prev 2010-07-12T23:53:13Z

<p>‎<span dir="auto"><span class="autocomment">Hardware</span></span></p> <table class='diff diff-contentalign-left'> <col class='diff-marker' /> <col class='diff-content' /> <col class='diff-marker' /> <col class='diff-content' /> <tr style='vertical-align: top;'> <td colspan='2' style="background-color: white; color:black;">← Older revision</td> <td colspan='2' style="background-color: white; color:black;">Revision as of 23:53, 12 July 2010</td> </tr><tr><td colspan="2" class="diff-lineno">Line 42:</td> <td colspan="2" class="diff-lineno">Line 42:</td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>** Two M3x6 or M3x8 to connect the UTM to the bracket.</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>** Two M3x6 or M3x8 to connect the UTM to the bracket.</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>** Longer screws will require washers.</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>** Longer screws will require washers.</div></td></tr> <tr><td colspan="2">&#160;</td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div><ins style="color: red; font-weight: bold; text-decoration: none;"></ins></div></td></tr> <tr><td colspan="2">&#160;</td><td class='diff-marker'>+</td><td style="background: #cfc; color:black; font-size: smaller;"><div><ins style="color: red; font-weight: bold; text-decoration: none;">==== Power ====</ins></div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>== Code ==</div></td><td class='diff-marker'>&#160;</td><td style="background: #eee; color:black; font-size: smaller;"><div>== Code ==</div></td></tr> </table>

Advaitjain