Dynamixel MX-64 Issue

asked 2018-07-02 18:27:04 -0500

Sanddog23 gravatar image

updated 2018-07-02 18:34:44 -0500

Hello,

I am experiencing peculiar behavior with a couple of MX-64 motors that I am currently using for a robotic arm. The issue is that when executing motion planning movement for the arm through ‘ROS and Move-It’, the motors periodically give-up then slowly go back to moving to their required position. A video of this happening is seen at: https://vimeo.com/278070661 . The specifications of the arm I am using and what version the motors are is below:

Robotic Arm

• Crustcrawler Pro-Series Robotic Arm ( http://www.crustcrawler.com/products/... )

• Motor layout from bottom (table #1) to top (gripper #8):

o Turntable Motor #1 - MX-64

o Dual Motors #2 and #3 - Both are MX-64

o *Long Arm Motor #4* - This MX-64 is giving the issue

o Short Arm Motor #5 - This MX-64 is giving the issue also

o Wrist Rotate Joint Motor #6 - AX-12A

o Gripper Motors Left #7 and Right #8 – Both are AX-18A

Motor Specifications

• MX-64T Protocol 1.0 Firmware Version 36

( http://support.robotis.com/en/product... )

I am trying to figure out why this issue occurs and how to stop it. Some areas that could potentially be the problem that I have discovered through troubleshooting are the following:

• Serial daisy chain wiring configuration is touchy meaning sometimes motors flicker on and off just by moving the wiring of the previous motor’s connection in the chain.

• URDF file description for setting revolute joint limits. What exactly do the effort and velocity attributes set??

Any help would be appreciated!

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Comments

Hi :) ROSOTIS has supported some packages for manipulator is configured by Dynamixels.

https://github.com/ROBOTIS-GIT/open_m...

http://emanual.robotis.com/docs/en/pl...

I think this links might be help you

Darby Lim gravatar imageDarby Lim ( 2018-07-02 19:21:47 -0500 )edit