Robbie is now fully
functional again after his computer problems the reason the arms
missed commands was due to the controllers resetting. after I
supplied power to the USB hubs every thing worked as required.
To increase the
accuracy of the arm I started replacing the potentiometers with
magnetic encoders to fit the new encoders required a few modification
to the gearbox, I incorporated a bearing in the top of the gearbox
and a mount for the magnet in the drive gear plus a few extra tweaks
to increase the strength of the assembly not all modification will be
fitted at the same time some will wait until the next major rebuild
Moveit Update
Robbie's moveit
configuration is working again accuracy is 15 cm not very good but
magnetic encoders will help plus a better calibration. Obstacle
avoidance suffers because planning only just misses the obstacles.
Robbie now has a point at node where he will point to a published
target pose.
Face recognition
We are now running
the COB face recognition package this works well in daylight but the
garage is to dark Robbie makes a few errors, I need to add more
lights. The AI will say Hello when he first recognises a face then
after 5 minutes he will just say Hi. The name of the recognised face
is returned to the chat bot so he knows who he is talking to
Object recognition
will recognise a pre
programmed object but wont learn a new object because ECTO requires
direct access to the kinect driver Freenect uses a different driver
and Openni will not work under indigo
2d recognition,
shift and surf and not included in the opencv package so its very
flaky
Navigation
Increasing the
Global inflation will make Robbie plan further away from obstacles.
Autonomous operation
shutdown command
will not work when Robbie is started using robot upstart also depth
registered points from the top kinect will not always work unless
something uses it straight away the lower kinect has the point cloud
to laser scan and gives no trouble. I will start face recognition on
start up and see if it remains stable. We haven't had any jitters or
strange events since we started using the powered hubs for the
arduinos. The current high temperatures are causing a few resets I
need a bigger fan and more vents in the CPU bay
Robbie's Emotion
system
has been turned off
for the moment since he spent most of the time bored and kept quoting
a markovian chain from Sun Tzu. It needs a lot more configuration and
thought but its fun for a while
As the design of
Robbie matures I'm starting to add covers to hide the wires and keep
dust off electronics but this has induce a few extra problems
- Heat build upmore fans need to be included in the design
- striped out threadsprinted PLA and MDF wont hold a thread for very long so now I will add M3 threaded inserts and M4 rivnuts to the structure
