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Human Interactions Robotics Laboratory

UR5 interactive co-working twin robotic arms, Castor and Pollux. Check out our Wiki for current documentation.

Website: olinrobotics.github.io/hiro/

UR5/CB3 Arm Manual: https://www.usna.edu/Users/weapron/kutzer/_files/documents/User%20Manual,%20UR5.pdf

Quick Setup

  • Install ROS
  • Go to your catkin workspace's source folder: cd <your_catkin_ws>/src
  • Clone this project: git clone https://github.com/olinrobotics/hiro.git
  • Go back one level to catkin workspace: cd ..
  • Install dependencies: rosdep install --from-paths src --ignore-src -r -y
  • Build the platform: catkin_make

Team Repositories

Troubleshooting

Grouped by error message

Encoder-stepper mismatch

  • Is the area around the K11R control box and robot arm clear?
  • Turn the controller on/off. (Power-cycle the robot)
  • The arm generally makes a pseudo circle using its waist at the beginning of the calibration, done counterclockwise. Try starting it closer to its end point for that rotation, and then execute the startup code. The same thing could be tried for any of the joints (or axes, which is what Roboforth refers to them by).

Controller refuses to turn on

  • Check the fuses. Two are located in the back of the controller, one is located on the power supply itself. (Where the power cord is plugged in)