Search found 27 matches
- Thu Jul 01, 2021 2:17 pm
- Forum: General
- Topic: Sending position-velocity-torque commands together
- Replies: 1
- Views: 5731
Re: Sending position-velocity-torque commands together
When doing position-velocity-torque control the commands are meant to be sent together, and the actuator combines them at the low level with separate PID controllers for each. As long as these commands ‘agree’ they let you track a trajectory with much lower gains. If they 'don’t agree' - like if you...
- Thu Jul 01, 2021 1:31 pm
- Forum: General
- Topic: What is the 'Effort' parameter?
- Replies: 1
- Views: 6189
Re: What is the 'Effort' parameter?
The "effort" reading is really just a reading of the torque, and is based on the output of the actuator. As these are series elastic actuators with a spring element in them, there is some hysteresis that comes along with the torque calibration. When you apply a load in one direction on the actuators...
- Thu Jul 01, 2021 12:00 pm
- Forum: Kits|Other
- Topic: How high can a Hexapod climb?
- Replies: 1
- Views: 19882
Re: How high can a Hexapod climb?
Daisy/Lily should be able to climb a single step, or a set of multiple steps, up to ~300mm in height. If climbing a set of steps, I don’t think anything with a pitch steeper than 45-deg would be likely to work, regardless of individual step height. Please note, this would require custom software wor...
- Wed Jun 30, 2021 4:54 pm
- Forum: Kits|Other
- Topic: Multiple NUCs on Daisy Hexapod?
- Replies: 1
- Views: 19285
Re: Multiple NUCs on Daisy Hexapod?
In our standard configuration, if you need to power a second NUC, we recommend using the accessory DC-DC converter to power it, using the 12V output. Alternatively, we recommend attaching another DC-DC converter of some sort. If you don't do any of the above steps, you may see one of your computers ...
- Wed Jun 30, 2021 12:19 pm
- Forum: Kits|Arms
- Topic: Power Supply for my X-Series Arm
- Replies: 1
- Views: 19953
Re: Power Supply for my X-Series Arm
The power distribution board has multiple connectors so you can plug in multiple actuators. All the outputs are the same, so it does not matter which one you plug it into. The quickstart guide http://docs.hebi.us/#x-series-quickstart has pictures about how everything goes together. If you are assemb...
- Wed Jun 30, 2021 12:03 pm
- Forum: Kits|Other
- Topic: Igor Onboard Computer Power Supply
- Replies: 3
- Views: 22544
Re: Igor Onboard Computer Power Supply
The Intel NUC computer used in Igor is powered through a converter that takes the nominal 36V input from the provided LiGo batteries and converts it to 12V, which is the required voltage to power the NUC. This is highlights in the image below.
- Tue Jun 29, 2021 5:28 pm
- Forum: General
- Topic: How do I read log files?
- Replies: 1
- Views: 5715
Re: How do I read log files?
The HEBI log files are in a binary format that saves all the information received from the actuator. It will generally be slightly different sizes even for runs of approximately the same duration. Depending on your preference, there are several ways to access/view the data: 1) Scope (recent versions...
- Tue Dec 31, 2019 3:25 pm
- Forum: Scope
- Topic: Running Scope alongside APIs
- Replies: 1
- Views: 5182
Re: Running Scope alongside APIs
Absolutely, that is the way Scope is intended to be used.
Scope is designed to run in conjunction with anything you may be doing from the API, from either the same or a different computer. The plotting tools in particular are an extremely useful tool for online configuring, tuning, and debugging.
Scope is designed to run in conjunction with anything you may be doing from the API, from either the same or a different computer. The plotting tools in particular are an extremely useful tool for online configuring, tuning, and debugging.
- Tue Dec 31, 2019 3:23 pm
- Forum: General
- Topic: Example Code
- Replies: 1
- Views: 5664
Re: Example Code
Yes. We have Github repos for the various APIs.
Python
https://github.com/HebiRobotics/hebi-python-examples/
C++
https://github.com/HebiRobotics/hebi-cpp-examples/
ROS
https://github.com/HebiRobotics/hebi_cp ... _examples/
Matlab
https://github.com/HebiRobotics/hebi-matlab-examples/
Python
https://github.com/HebiRobotics/hebi-python-examples/
C++
https://github.com/HebiRobotics/hebi-cpp-examples/
ROS
https://github.com/HebiRobotics/hebi_cp ... _examples/
Matlab
https://github.com/HebiRobotics/hebi-matlab-examples/
- Tue Dec 31, 2019 3:22 pm
- Forum: General
- Topic: Which API should I use?
- Replies: 1
- Views: 5461
Re: Which API should I use?
It depends. It is probably best to start the with language you are most comfortable in. If you are just starting out in programming, the Python API is probably a good starting point. If you are at a school or company that has access to Matlab, the Matlab API can be useful. The full list of supported...