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List of equipment
Melfa is the 6-DOF robot arm at the lab. It is usually equipped with a JR3 force/torque sensor at the wrist, and a Weiss Robotics WRT-102 parallel gripper (Schunk PG-70 gripper equipped with Weiss tactile sensor arrays).
Some general usage rules follow:
- Be ready to stop the motion (keep your hand on stop/emergency stop) with a very short notice always when operating the arm.
- If you are not very experienced with the arm, always have another person present whenever you are using your own software to move the arm.
- Be especially careful when using real-time feedback control.
- If anything unexpected happens and you are not absolutely sure how to sort out the problem, contact someone (e.g. Ville) who knows the system thoroughly.
- JR3 force sensor and Schunk gripper are mainly to be used with the arm. Please do not detach them before discussing with others.
The arm is used by several researchers. To sort out simultaneous needs, there is a booking system at booking system. If you have login problems to the booking system, contact the sysadmin (Ilmari).
Rules for the booking (if you have suggestions for changes, please discuss with Ville):
- Bookings in the booking system give preference.
- You can use the robot without a booking but beware (1).
- Do not make unnecessary bookings (e.g. a “standard” booking for each week just to make sure you get to use the robot).
- Use your real name in the booking system to allow other people see who booked the arm and discuss potential booking changes.
- JR3 force sensor and Schunk gripper are included in the booking.
Manuals and software support
The manual CD is in the lab. Downloadable manuals can also be found from the Finnish distributor's website. Look for the RV-3 manuals.
Software support for controlling for the arm can be found in itlabcpp, lab's software library, in Hardware/RV3SB.
Bumblebee 2 is a FireWire stereo camera from Point Grey. Interfacing to Bumblebee is easiest via itlabcpp.
Imaging Sensor: Sony 1/3" progressive scan CCD, ICX424 (648x488 max pixels), 7.4 micro square pixels Baseline: 12cm Focal lengths: 3.8mm with 66degree HFOV or 6mm with 43degree HFOV A/D Converter: 12-bit analog-to-digital converter White Balance: Automatic/manual Frame rate: 48 FPS Interfaces: 6-pin IEEE-1394a for camera control and video data transmission. Voltage Req.: 8-32V via IEEE-1394 interface or GPIO connector Power consumption: 2.5W at 12V Gain: Automatic Shutter: Automatic/Manual, 0.01ms to 66.63ms at 15 FPS Trigger Modes: DCAM v1.31 Trigger Modes 0, 1, 3, and 14 Signal to noise ratio: 60db Dimensions: 157 x 36 x 47.4mm Mass: 342g Camera Specification: IIDC 1394-based Digital Camera Specification v1.31 Lens mount: 2 x M12 microlens mount Emissions Compiance: Complies with CE rules and Part 15 Class A of FCC Rules Operating Temp: Commercial grade electronics rated from 0 to 45 celcius Storage Temp: -30 to 60 celcius
Unibrain is a firewire-camera. There are three cameras. Two older models with fixed lens and one newer with wide-angle lens.
Calibration for the Unibrain camera with wide-angle lens
Calibration results (with uncertainties): Focal Length: fc = [[|388.39372 387.36015 ]] ± [[|2.19541 2.15793 ]] Principal point: cc = [[|340.36180 246.25663 ]] ± [[|1.13353 1.14375 ]] Skew: alpha_c = [[|0.00000 ]] ± [[|0.00000 ]] => angle of pixel axes = 90.00000 ± 0.00000 degrees Distortion: kc = [[|-0.29815 0.07523 0.00057 0.00096 0.00000 ]] ± [[| 0.00429 0.00282 0.00050 0.00036 0.00000 ]] Pixel error: err = [[|0.50051 0.46572 ]] Note: The numerical errors are approximately three times the standard deviations (for reference).
Panasonic surveillance webcam is attached to the mobile robot. It can turn its lens and zoom in and out by remote control.
Calibration for Panasonic HSM-381 webcam in wide-angle-zoom position
Calibration results after optimization (with uncertainties): Focal Length: fc = [[|362.19457 361.81096 ]] ± [[|5.31050 4.97830 ]] Principal point: cc = [[|160.74831 114.57136 ]] ± [[|1.80055 3.70210 ]] Skew: alpha_c = [[|0.00000 ]] ± [[|0.00000 ]] => angle of pixel axes = 90.00000 ± 0.00000 degrees Distortion: kc = [[|-0.28049 0.30951 0.00332 0.00044 0.00000 ]] ± [[|0.01779 0.07017 0.00222 0.00088 0.00000 ]] Pixel error: err = [[|0.28045 0.25121 ]] Note: The numerical errors are approximately three times the standard deviations (for reference).