Shenzhen FEETECH RC Model Co.,Ltd.
Feetech Humanoid remote control robot
Operational guidelines and composing skills
Catalog Cover (1)
https://www.wendangku.net/doc/5e8132545.html,pany profile (3)
2.Feetech humanoid robot introduction (3)
2.1robot introduction (3)
2.2Serial bus smart control robot SCS15&controller SCM-1introduction (3)
3.Feetech robot play process (6)
3.1Computer connection hardware requirements (6)
3.2computer connection operation process (6)
4.Example (12)
5.Questions (13)
5.1Hardware question (13)
5.2Software question (14)
6.The composing skills (15)
1Company profile
Shenzhen Feetech Model Co.,Ltd.,our company is located in Longgang District,Shenzhen,Guangdong,specializing in the production,R&D and sales of rc robot,robot servo,robot accessories,helicopter servo,car servo,rc boat servo,servo accessories products.Our company regard user needs as the core,persist in the"Top quality,first-class service" business philosophy,won the customer's recognition and highly in remote control toy industry,we would like to create great value for customers, look forward to serve you!
Website:https://www.wendangku.net/doc/5e8132545.html,/
https://www.wendangku.net/doc/5e8132545.html,/
2.Feetech humanoid robot introduction
2.1robot introduction
The robot consists of a head,a body,two arms,two legs,and a robot controller SCM-1to control17serial bus smart controls SCServo(SCS15).
Robots can walk,squat,rotate,slide,rotate,dance,fight or run more complex movements.
Open source code can be free two developments.
Arduino compatible,if use relevant sensors,can climb stairs, tracking,automatic control itself,etc..。
2.2Serial bus smart control servo SCS15and controller SCM-1 introduction
SCS15serial bus smart control servo is a kind of integrated DC motor, which is a kind of integrated motor,servo drive,serial bus communication
interface and sensor.Its characteristics are as follows:
Big torque:15kg.cm Rotation range of position servo
control mode:0-200°
Wide voltage range power supply DC 6V-9V can set to the wheel mode continous rotation and adjust the speed
resolution ratio0.21°Theoretically can series connect
253units ID number
Two axle mounting method,suitable for mounting in robot joint The baud rate from38400bps to1M bps can be used
High precision all metal geat set,
double ball bearing
0.25KHZ servo update rate
Dual connection port daisy chain connection Serial bus SCS communication protocol
Position,temperature,speed,
voltage feedback
Detailed parameters please reference"SCS15product manual"
?use robot controller SCM-1and free software,easy to program the robot to move,we will provide software download address.
(2)Controller SCM-1specification
weight:16g Size(L*W*H):60mm*38mm*20mm
controller:STM32F103C8
T6
Max current:10mA
Working voltage:6-9V Outside I/O Max Current:300ma
Recommend voltage:7.4V Outside I/OdeviceUART SCServoreceiver1(3pin):5?UART2(4pin)OpenRC24G receiver or other controller UART:1
Current consumption:
free:40mA
Work mode protocol type?Debug mode?SCS mode
working temperature:5℃~60℃Communication speed?UART1(3pin):38400 bps--1M bps?UART2(4pin):38400bps--1M bps
Attention:How to set to work model Protocol type Communication speed please refer to SCM-1
3Feetech humanoid robot playing chart
3.1Computer connection hardware requirements
Windows XP/Windows732bit、64bit/windows832bit、64bit(WIN8systems need to disable the drive digital signatures)
3.2online operation processes
A、Off-line commissioning:Straighten robot stand at attention posture, placed on a flat table,switch on the back of the robot,the robot will run with movement group1time.Shutdown,connect to power.(welly beside the robot back switch).
B、online operation:
①Straighten robot stand at attention posture
②Install the software,download package links:
https://https://www.wendangku.net/doc/5e8132545.html,/open?id=0B0Jk0ud2v8OWbnlNcm1sVklub0U
Open FT-Servo Software and Driver V1.1(160323)
Install FT-Servo Software and Driver V1.1(160323).exe
Hook Create a desktop shortcut
Appear unable to validate the driver software publishers:choose always install the driver software.
After the installation is successful there will be three ICONS on the desktop shortcut
(Figure7)
FD is steering gear parameter examination,Settings,update,upgrade:
FS common PWM model aircraft servo software test,temporarily can't use.
FM is the operation of the robot to use the highest frequency of a program,download the installation package in Chinese Version(see Figure 7)to facilitate the operation.
Appear above three icons,and then the software is installed.
Robot online once again confirmed that computer can meet the demand of on-line operation.The blue USB data line end connected to the computer USB interface,T-port inserted into the interface of robot back, and then the red light of controller light,computer port plug ring,and then open the back switch,on-line to complete.
④Connection software,open the desktop software FM.Open the software after clicking on buttons:"open"->port appear COMX(2,3, 4or other Numbers are likely to be)->click:"search".”;
appear“search box”→click“search”appear servo’s ID and serial number,appear ID1~17and NO.1~17.Software link is completed!Click“stop”、“ok”close the search box.
(if there are not17ID in the search box ID,that17servos of the robot have a part are not read or electricity shortage.Need to plug the power running,restart(1)(3)(4)steps)
⑤Interface introduction:
A zone:software search servo ID,to determine the software link robot;
B zone:the action group(export as the GOP format),after adding H zone appear,the edit action would have one of the action group.
C Zone:action set,B zone after add group,action is set inside the group.
D zone:Engineering area(PRJ format),burn,will edit action group and the error of the buffer(OFS format)to the robot controller,and the robot's motion can be read on the software.
E zone:testing zone,after editing action,will run action in accordance with the order
F zone:recording actions:control of the servo,
“Mirror”:The robot does the opposite action as the other side.,
“Copy”:The robot does the same action as the other side.,
“Read”:Turn the servo and then click the"read"to read the servo data to a computer,
“Initialization”:The robot back to the initial position,
“Calibration”:If there is a deviation,the initial position state can click on the Calibration,Set the stand at attention posture,click ok,and can correct the error.
“Torque Di”:servo unlock,
“Torque En”:servo cannot move。
G zone:Interface introduction;511represents the initial dimension of the servo position,1234...17is the servo ID.O represents the initial position;the error0,after the correction error,the numerical value is changed.Square:hooking represents the servo cannot move;no hooking represents the servo unlock.G1,G2,G3,G4represent a separate control of the limbs.
Format introduction:
PRJ:engineering format,it is the software within the movement group export form format.Also contains error in it.
OFS:format error values,generally after correcting the specification of the position,you can click on the save export saved,if you download and import from other place to PRJ in software engineering,you need to download this error OFS override his OFS.
GOP:a set of action group export format does not contain the error value. The software can import/export many times within the GOP.
⑥Through the software to extract the robot movement groups and error: Click on the lower right corner"Eprom"Eprom set:
Click on the"read"(read at this time is the action of robot run offline group and the error value),closed Eprom set,upper left frame appear several action groups:
⑦Corrective error:the so-called error value is the difference between each robot,the reason is that the robot production and installation of the servo angle deviation caused by the robot,the initial position of the robot as shown below:
Because there is a deviation,so need to manually correct to each place screw alignment status.Specific methods are as follows:just now we had extracted the error value,and then click on the"Initialization",the robot will be to modify the action itself.Assumes that the left hand arm elbow too bent,we click the"Calibration",stand to attention and then click the"ok",G zone digital interface changes,then click on the "Initialization",error correction is completed.
Error should not be more than30,closer to0,posture is more standard, if is at attention posture,numerical deviation is too large,you need to disassemble steering gear,manual correction servo dimensions.
⑧Add action group and write action:
The picture can refer to the step⑤"Stand-up"I zone action group tips. Below will be presented to you in the form of examples,I believe that after a few times to practice,you can be familiar with the operation of the robot.
⑨Eprom:If read or edit the at least one action group,after an action group inside at least one action,you can click on the E zone test run, and then click"Eprom"D zone,select debug mode,then offline run once, click on"write",close the dialog box and the software upper right corner, click on the"off",disconnect the cable,close the switch then turn on again,it can run the action.
(remote control mode selection is using the android app control and off-line running times0,baud rate unchanged,click"write",close the dialog box,the software upper right corner click"close",can disconnect the data line,off the switch and switch on the robot again,then use mobile phone remote control robot.
⑩Remote Control Mode:
Insert the module robot comes in four hole thread,Eprom the editing action choose the remote control mode,offline for the number0,other invariant, after writing,disconnected,pull the cable,,the robot to shut down and start up.Then the remote control turn on,the remote control on the1--9 were executed corresponding to the1--9action group,more than10of the remote control cannot be implemented.If you want to perform,please look down.
Robots need to be equipped with the2.4GHZ Bluetooth module,currently only support the Android system with a Bluetooth function mobile phone.
THE FTRobotRC.apk from the installation package is installed to android phone,the robot after installed the bluetooth module,turn on,open mobile phone bluetooth search FTRobot,paired,open FTRobotRC software, open the Settings,if robots are1,2,3,three groups,so you can edit named1,input command1,save after select"1"button operation,can let robot to perform the action of"1"set of commands,how to want to1and 2together,as long as the input commands written"1,2"(Use commas in the middle),save is completed.
4.Example
4.1.Action group:attention;Salute;Bow;attention
Attention action groups:straighten robots-connecting cable,switch on the robot,and open the computer software SCRobotMotion.Exe–A Zone "open"-search-search-17ID and serial number-sure-D Zone Eprom Set-read-sure–F Zone initialization-Robot standing,hands open. Situation1:position specification-B Zone add,named"Stand up"-determine(H Zone Display action group)-unlocks the G1and G2box(no hook)-Robot arm rotating down,standing to attention–F Zone read-C Zone set time600ms(custom)–C Zone added(I Zone appear in the first column action group)-attention action group set up;
Situation2:the posture is not standard,F Zone Calibration(don’t worry to click ok)--Adjust to a standard position--and then click ok--the
original position—repeat situation 1.
Bow:Click on TorqueEn--unlock ID10,ID11,ID15,ID16servo(no hook) -The robot into a bow pose-F Zone read–C Zone set time600ms(custom) -C Zone added(I Zone appear in the second column action group)--once again,F Zone read-C set time zone300ms(bow resting state time)–C Zone added(I Zone appear in the third column action group),double click on the I Zone Attention movement data of robot is the first column posture -,take this action need to click on the read(F Zone)-C Zone set time 600ms(custom)-Zone C added(I Zone appear in the fourth column action group)—Bowing set up;
Salute:click the TorqueEn--unlock ID2,ID3,ID6servo(no hook)or directly to unlock the G1-will robots on the left hand(mirror)for rotated180°-F Zone read-C Zone set time600ms(custom)-C Zone added(I Zone fifth column action data)-continue to machine hand joint to the head in about60°F read-Zone C time set200ms(custom)-Zone C added(I Zone6column movement data)-double-click the fifth column to extract180°action-read Zone F-C set time zone200ms(custom) -Zone C added(I Zone7column movement data)-double-click the first column attention moves data-read Zone F-C set time zone600ms(custom) -Zone C added(I Zone8column movement data)-saluting set up;
Eprom Set:click on debug zone play,online running bow and salute series action-click eprom set-debug mode-offline run once-write-sure -A zone close-pulling cable,switch on the robot,offline running robot with bow and salute in series–turn off-finished!
5.Problem
5.1.Hardware problem
1,the online operation,frequent drops?It's impossible to be created? Reason may appear on the USB interface,power supply,to understand the above to Control panel recommended voltage is7.4v,and general computer Voltage5V,so it is necessary to an external power supply USB splitter. It can solve the problem.Of course,occasionally dropped is normal. 2,Run time suddenly becomes slow,the last stop?
Best when editing has been connected to the power supply,offline runtime can pull out the power to perform.
3,servo cable stuck cause fracture?
This problem because of careless mistakes caused by operation can be connected with insulating tape glue cable,before the operations,the each servo cable,please avoid being broken.
4,servo Robots doesn’t move,or touch?
Possible reason is that the inside of the servo somewhere out of the question,FD can be used for testing or contact us.
5,Robot control in the long run,the screw loose?
Please follow the right way to repair the robot.First online-the initial position-let robot in enabling state,then servo is removed with a screwdriver,tossing the locking screws and nuts,rebuilt again,this can guarantee the servo dimension will not change.Suggest nut with sharp pliers,deep inside with tweezers.
5.2software problem
1,Can’t install the drivers?
First of all determine whether the hardware requirements,WIN8systems whether to disable the drive digital signatures,whether FT-Servo Software and Driver V1.1(160323)are installed;download the installation package of usbser.Sys when necessary to manually import. 2,servo search is not complete,no17?
Check which ID does not appear,the corresponding in the back of the robot control panel to check cross connection whether normal,unplug and plug in again after to test again.
3,desktop did not show FD/FS/FM three ICONS?
FT-Servo installation Software and Driver V1.1(160323),please remember to check the Create a desktop shortcut.Or in the beginning-all menus -Smart Robot-create a desktop shortcut icon.
4,offline run faster than online?
Because online,need data real-time transmission data,all online process will be slower than offline process40ms~80ms.
5,after the online search is less than ID?
Please operate in the correct order:straighten robots-connecting cable, switch on the robot,and open the computer software SCRobotMotion.Exe -A zone"open"-search-search-17ID and serial number-sure-D zone burn-read-sure-F zone initial position-robot hands open to stand.
6,online and then click the start slogan out not come?
Sure not win10computer system?Win10is still unable to control the robot. Currently only32/64/doing32/64support XP/WIN7(doing system to disable driver signature),it is recommended to use Windows764-bit systems.
7,how much can compile action group?
253group in theory.
6the plait skills
Robot in the plait at three difficulty levels:
Simple:hello,salute,bowed,shook his head,a simple radio gymnastics
routine and so on.
General:push-ups,splits,swallow,forward roll and roll after running large range of movement.
Difficulties:a cartwheel,walking,such as backward with barycenter offset action;Rhythm,the rhythm of the dance.
After introduction,you must have a new understanding of this little guy, in fact,the more you know him,and he is more interesting.You teach him to do a lot of action;he can give you a performance.He is not only a simple robot,he is your friend!
智营呼叫中心系统 使用说明书 目录 目录 (1) 前言 (3) 功能说明 (4) 1. 登陆 (4) 2. 客户管理 (4) 2.1客户列表 (4)
2.2跟进记录 (6) 3. 坐席管理 (6) 3.1坐席列表 (6) 3.2分机管理(软电话或语音网关登录的账号) (7) 3.3主叫号码 (7) 3.4坐席统计 (8) 3.5班组管理 (8) 3.6分机统计 (9) 4. 通话记录 (9) 5. 财务管理 (9) 6. 企业管理 (9) 6.1添加企业 (9) 6.2企业管理 (10) 7. 大数据 (10) 8. AI机器人 (11) 8.1纠正列表 (11) 8.2数据列表 (11) 8.3呼叫队列 (12) 8.4呼叫记录 (12) 8.5模板列表 (13) 9. 知识库 (15) 9.1分类管理 (15) 9.2问题列表 (16) 10. 短信管理 (17) 11. 系统设置 (17) 11.1修改密码 (17) 11.2系统配置 (17) 11.3定义字段 (18)
前言 本手册针对的用户需要具备一定的后台管理系统操作常识。本手册从使用者的角度,充分地描述系统所具有的特点、功能及使用方法并配截图页面说明,从而使用户通过说明书能够了解系统的操作及用途,并且能够确定在何种情况下,如何使用它;同时向用户提供系统每一个运行的具体过程及相关知识。
功能说明 1.登陆 用户在浏览器输入后台http地址,按回车键,跳转到登录页面,输入用户名、密码,点击“登陆”按钮进入系统,如图1。 图1 注意: 企业登录,直接用企业账号+密码. 坐席登录坐席工号@企业账号+密码. 或者坐席绑定的主叫号码+密码登录. 2.客户管理 2.1客户列表 1)客户管理:查看和编辑客户的详细信息。(如图2) ①添加客户:手动添加单个客户。(如图3) ②导入:下载导入模板,并按模板编排好客户资料,成批导入客户。(如 图4) ③分配:可将客户分配至坐席进行人工拨打。(图5)
人形机器人教材 ———基于Arduino开发平台V1.0 目录 一、机器人的组装 (1)
Arduino人形机器人教材 1.1. 组装工具 (1) 1.2. 机器人零部件 (1) 1.3. 部件装配 (3) 二、系统概述 (21) 2.1.arduino介绍 (21) 2.2.Arduino驱动安装 (25) 2.3.Arduino IDE菜单介绍 (31) 2.4.24路舵机驱动板介绍 (36) 2.5.图形化动作编辑软件 (37) 三、实验操作 (48) 3.1舵机实验 (48) 3.1.1 舵机介绍 (48) 3.1.2 舵机的内部结构 (48) 3.1.3舵机的控制协议 (52) 3.1.4 舵机实验操作 (53) 3.2.声音传感器 (55) 3.2.1声音传感器介绍 (55) 3.2.2声音传感器实验操作 (55) 3.3 PS2手柄 (57) 3.3.1 PS2手柄介绍 (57) 3.3.2 PS2手柄实验操作 (58) 四、使用说明 (66) 4.1.接线端口介绍 (66) 4.2.操作说明 (66) 4.3.开发指南 (67)
注意事项 请认真阅读该手册并注意产品功能和用途说明。本手册在CD光盘上以PDF格式提供,如有需要可以进行复制或打印。 该手册内容可能因产品升级或其他原因而改变,本公司不另行通知客户。 安全防备 根据严重程度,安全防备分两种:警告和注意。在动手安装之前请先通篇阅读警告和注意事项。 安装和操作注意 本段包含防止机械损伤方面的内容。 危险! 当操作机器人的时候要注意安全。 如果没有正确组装,机器人将不能正常工作甚至会损坏。组装方法详见第一章机器人组装说明。 在一个足够大的地方进行调试工作 警告! 远离小孩。尽管该产品看起来像个玩具,在无人照看的情况下,它可能会对小孩造成伤害。 故障发生时,请立即关闭电源。如果电池被弄破,暴露在液体,火或其他热源面前,可能会导致电击。 不要拆开或修改充电器和其电缆。 当不充电时,请把充电器从电源上拔下。 不要拆卸或修改电机里面的电路板。 不要在热,潮湿或寒冷的环境下使用,因为该产品包含精密的元件。如果处在一个极端的条件下,错误可能发生。 充电时请确认充电器插座是牢固的。 请仔细阅读本手册,在调试时注意机器人各关节的方向,尽量避免关节相撞。 注意! 机器人的电机需要定期维护以获得和维持恰当的性能。 在一个较大,平整的地方操作时机器人的表现效果会更好。如果工作空间很小又不平的话,机器人可能会摔倒甚至损坏。 在启动了机器人或操作的时候请不要把住机器人。 在程序的下载过程中不要关闭机器人电源,否则程序会丢失或损坏。 电池! 套件里面包含锂离子(Li-Ion)电池做电源。该锂离子(Li-Ion)电池是高能量可充电的电池,必须妥善保管,充电和使用。 把充电器接入交流电源并把他连到电池的充电接口上。当充电器接到交流电源后,它上面的电源灯会亮起来并呈红色。状态指示灯会呈绿色,当电池充电完成,绿色指示灯熄灭。
1.1机器人组成 (3 1.2机械本体说明 (3 1.2.1机械本体 (3 1.2.2机器人轴说明 (4 1.2.3各关节电机说明 (5 1.2.4各轴机械零点说明 (6 1.2.5机器人铭牌 (8 1.3电气控制柜说明 (9 1.3.1控制柜正面介绍 (9 1.3.2控制柜内部说明 (9 1.3.3控制柜背面说明 (10 1.3.4控制柜接线斜面板说明 (11 1.4示教器说明 (12 1.5连接线缆说明 (13 1.6机器人系统的吊装搬运方式 (14 1.6.1准备工作 (14 1.6.2 搬运和拆封 (15 1.6.3安装机器人控制系统 (18 1.6.4 机器人本体线缆连接 (19
1.6.5 机器人控制柜电源连接 (19 1.6.6机器人工作状态确认 (19 2机器人控制系统介绍 (20 2.1控制器说明 (20 2.2 STEP伺服说明 (21 2.3安全逻辑板说明 (27 2.4柜冷却装置说明 (28 2.5 I/O模块 (28 2.6 软件功能介绍 (29 3机器人标定和性能测试 (30 3.1.1标定工具DynCal (30 3.1.2标定过程 (30 3.2机器人性能测试 (30 3.2.1性能测试工具CompuGauge (31 3.2.2硬件安装及调试 (31 4故障处理及维护说明 (33 4.1示教器常见错误信息提示及处理方法 (33 4.2电气系统常见故障 (36 4.3机器人维护保养 (37
4.3.1 维护保养注意 (37 4.3.2 定期检修日程表 (37 4.3.3检修项目 (38 5安全注意事项 (52 5.1机器人安全防护装置 (52 5.1.1 安全防护装置预览 (52 5.1.2 紧急关断按键 (52 5.1.3 运行方式选择开关 (52 5.1.4 点动运行 (53 5.1.5 机械终端限位 (53 5.1.6 软件限位开关 (53 5.2 相关人员 (53 5.2.1 操作人员资格要求 (54 5.2.2设备操作规程的规定 (54 5.3培训 (54 5.4安全措施 (55 5.5检查 (56 1机器人系统 1.1机器人组成
2011年全国职业院校技能大赛高职组机器人赛项 自动机器人平台说明
目录 第一章自动机器人平台概述 (3) 1.1 自动机器人平台的总体构成 (3) 1.2 自动机器人平台按键部分 (4) 1.3 机器人平台的充电 (4) 第二章自动机器人平台系统结构 (4) 2.1自动机器人平台机械部分 (4) 2.1.1 机器人平台机械部分组成 (4) 2.1.2 机器人平台运动详解 (5) 2.2 自动机器人平台控制系统 (5) 2.2.1 概述 (5) 2.2.2 主控制板 (5) 2.2.3 巡线传感器 (9) 2.2.4 传感器信号处理板 (10) 2.2.5 电机驱动板 (12) 2.3 机器人平台控制程序 (14) 2.3.1 控制程序流程图 (15) 2.3.2 软件函数说明 (17) 第三章自动机器人平台的装配和调试 (18) 3.1 机器人装配过程 (18) 3.1.1 主动轮电机装配 (18) 3.1.2 电机安装至铝合金架板 (18) 3.1.3 从动轮及传感器安装 (19) 3.1.4 电路板的安装 (19) 3.2 机器人平台的调试 (21)
第一章自动机器人平台概述 自动机器人平台是专门为高职类机器人大赛提供的一个统一的机器人底盘,可以实现在比赛场地全场范围内的运动、定位;并提供了充足的I/O接口,参赛队可以根据大赛任务的要求,在此平台上进一步设计制作各种抓取、投放机构,利用机器人平台提供的主控制板和编程算法实现整体机器人的控制。 1.1 自动机器人平台的总体构成 机器人平台的总体构成参见图1-1和图1-2所示,由包括主动车轮、从动车轮、铝合金框架、直流电机、电池、电路板以及安装在底部的16路传感器组成。 图1-1 自动机器人平台的总体构成 图1-2 自动机器人平台的侧面图
机器人操作调节说明 1.开启机器人电箱电源,待机器人启动完毕后将将选择开关扭至手动模式,机器人处于手动工作状态;2.程序说明: a.nWheelH1放下高度 b.nWheelH2抓取高度 c.nWheelD扫粉深度(高度) d.wobjCnv1固化线解码器(坐标) e.wobjCnv2喷粉线解码器(坐标) f.tool_Grip机器人坐标 g.phome机器人原点位置 h.pReady1机器人准备位置1 i.pcln1机器人清扫位置1 j.pReady2机器人准备位置2 k.Pick机器人抓取位置 l.pLeave机器人离开位置 m.Dplace机器人放下位置 n.rOpenGripper打开夹爪 o.rCloseGripper放开夹爪 3.机器人启动完毕,按一下左上角ABB,弹出选择目录,可进入不同控制目录; 4.选择程序调试,进入各单元程序,可手动调节及测试各单元程序及位置点; 进入程序调试后选择phome,运行程序为使机器人回原点,修改phome位置为改变原点位置; 选择TSingle为校正追踪固化线输送机及追踪喷粉线输送机,具体操作步骤为: 开启固化线输送机后单步运行程序 DeactUnit CNV1; DropWObj wobjCnv1; ActUnit CNV1; 跳步将PP移至WaitWObj wobjCnv1;时连续执行程序 待出现警报立即停止固化线输送机,停止运行程序可手动操纵机器人到固化线轮毂放下位置,修改相应位置; 再次运行一次该程序,正常后完成放下轮毂位置的设定; 关于追踪喷粉线输送机位置的步骤如上; 注意:同步感应开关位置不能变更!!! 选择ClnWheel为校正清扫位置,设定好相应位置后,修改相应位置;
XX机器人2.0系统说明书 版本<2.0> XXXX股份有限公司
目录 一、XX机器人2.0简介 (3) 二、XX机器人2.0特点 (3) 三、机器人主要结构 (4) 3.1 机器人本体结构 (4) 3.2底盘结构图 (5) 3.3充电桩结构图 (6) 3.4机器人附件及配件 (6) 四、机器人配置参数 (7) 4.1 机器人本体配置参数 (7) 4.1.1机器人硬件参数 (7) 4.1.2 开关类型及其作用 (8) 4.2 充电座相关参数和说明 (8) 4.2.1指示灯说明 (8) 4.2.2充电座相关接口说明 (8) 五、充电座部署 (9) 六、机器人使用说明 (9) 6.1开机配置 (9) 6.2使用环境 (10) 6.3注意事项 (11) 七、机器人硬件模块质保清单 (11) 八、FAQ (12) 8.1 机器人充电相关问题 (12) 8.2 外部按钮功能 (12) 8.3其他常见问题 (13)
一、XX机器人2.0简介 机器人作为智能社会的重要切入点,正在改变人类的生产和生活方式。XXXX自主研发的智能服务机器人——XX机器人2.0(以下简称XX或机器人),是以人工智能技术为核心,依托强大的云计算平台支撑,结合互联网和智能终端技术的行业级智慧解决方案。“XX”集成了全球领先的AIUI技术,可以实现远场拾音、声源定位、回声消除、降噪处理等功能,通过多模态的交互方式实现人机之间的无障碍交互,更贴近用户的绝佳体验。 二、XX机器人2.0特点 ?全双工语音交互 主动交互,自由对话:AIUI人机智能交互,实现人机交互无障碍。支持语音、图像、手势等多种交互方式的无缝融合,实现多语种语音识别、语音合成以及自然语义理解等技术的完美结合,且对话过程可随时打断,降低用户交互门槛,人机交互过程更加流畅、自然,更贴近人人之间的交流习惯。 ?多模态交互方式 语音触屏,多种交互:支持语音、触屏、动作等多模态交互模式,满足用户业务需求,增加产品的趣味性、易用性。通过流程化配置,自动进行业务流程管理,提升运营效率。 ?智能客服 知识定制,智慧管家:便捷的知识管理系统,可根据客户需求设置专属业务知识问答。内置12亿条百科知识问答,覆盖1200种生活场景,智慧闲聊问答 ?自主导航避障 自主定位,安全护航:基于激光高精度定位导航,无须标点设置轨道,零施工成本。自动化地图构建及路线规划,实现5cm的精确导航与360度避障能力,为安全保驾护航。
人型机器人动作编辑软件使用说明书 一.介绍 本软件是用于对人型机器人进行动作编辑、程序下载和控制机器人的工具。使用该软件,使用者可以编辑机器人的动作文件,在三维图形中预览编辑的动作,并可以将编辑的动作结果下载到实际的机器人上运行。 二.系统要求 该软件对系统除下载电缆接口外,没有特殊要求,通常的家用台式计算机都可以满足使用要求。对于笔记本计算机等不具备RS232串行接口的计算机用户可以通过配备USB 用户可以根据情况选择下面两种方法之一安装软件。 1.使用Install程序安装。运行计算机中的Install软件后,按提示指定安装目录就可以完成该人型机器人控制软件的安装,安装软件将在桌面上建立该软件的文件夹和图 标。 2.将光盘中Setup目录拷贝到计算机的硬盘中,运行该目录中的setup.bat文件,然后手工在桌面建立该目录下HumanoidRobotCtrl.exe文件和SetOrigin.exe文件的快捷 方式即可。 注意: 1.SetOrigin.exe文件、RobotCtrl.exe文件、object目录和config目录处于同一根目录 下。SetOrigin.exe是机器人零位设置程序;HumanoidRobotCtrl.exe是机器人动作编 辑与控制程序;object目录存放机器人的三维模型;config目录存放程序运行所必 须的配置信息。 2.软件安装后,请确认用户所使用的计算机是否具有RS232串行接口,如果不具备请 安装USB转RS232的接口。 3.安装RS232接口后,用户需要使用文本编辑器打开config\config.txt文件,并将其 中的第一行的数字改成所使用的串口号码。例如通常计算机具有的RS232串行接口 为COM1,我们将设置config.txt中第一行的数字改写为1。系统安装后config.txt 中的默认设置为1。 4.config\config.txt文件为本软件的配置文件,请不要随便改动该文件中的内容,关于 config.txt文件中的数据格式详见附录1。config\Origin.txt存放机器人的零位信息, 请不要随便改动该文件中的内容,关于Origin.txt文件的数据格式详见附录2。四.软件的使用 机器人的使用包括两部分,首先是通过SetOrigin.exe软件设置机器人的零位,然后是通过HumanoidRobotCtrl.exe软件进行动作的编辑和机器人的控制。
第七章工业机器人应用 一机器人示教单元使用 1.示教单元的认识 2.使用示教单元调整机器人姿势 2.1在机器人控制器上电后使用钥匙将MODE开关打到“MANUAL”位置,双手拿起,先将示教单元背部的“TB ENABLE”按键按下。再用手将“enable”开关扳向一侧,直到听到一声“卡嗒”为止。然后按下面板上的“SERVO”键使机器人伺服电机开启,此时“F3”按键上方对应的指示灯点亮。
2.2按下面板上的“JOG”键,进入关节调整界面,此时按动J1--J6关节对应的按键可使机器人以关节为运行。按动“OVRD↑”和“OVRD↓”能分别升高和降低运行机器人速度。各轴对应动作方向好下图所示。当运行超出各轴活动范围时发出持续的“嘀嘀”报警声。 2.3按“F1”、“F2”、“F3”、“F4”键可分别进行“直交调整”、“TOOL调整”、“三轴直交调整”和“圆桶调整”模式,对应活动关系如下各图所示:
直交调整模式TOOL调整模式
三轴直交调整模式
圆桶调整模式 2.4在手动运行模式下按“HAND”进入手爪控制界面。在机器人本体内部设计有四组双作用电磁阀控制电路,由八路输出信号OUT-900――OUT-907进行控制,与之相应的还有八路输入信号IN-900――IN-907,以上各I/O信号可在程序中进行调用。 按键“+C”和“-C”对应“OUT-900”和“OUT-901” 按键“+B”和“-B”对应“OUT-902”和“OUT-903” 按键“+A”和“-A”对应“OUT-904”和“OUT-905” 按键“+Z”和“-Z”对应“OUT-906”和“OUT-907” 在气源接通后按下“-C”键,对应“OUT-901”输出信号,控制电磁阀动作使手爪夹紧,对应的手爪夹紧磁性传感器点亮,输入信号到“IN-900”;按下“+C”键,对应“OUT-900”输出信号,控制电磁阀动作使手爪张开。对应的手爪张开磁性传感器点亮,输入信号到“IN-901”。 3.使用示教单元设置坐标点 3.1先按照实训2的内容将机器人以关节调整模式将各关节调整到如下所列: J1:0.00 J5:0.00 J2: -90.00 J6:0.00 J3:170.00 J4:0.00 3.2先按“FUNCTION”功能键,再按“F4”键退出调整界面。然后按下“F1”键进入