Re: Installed B9 Arm - Robot Gone Wild!!

dschulpius · Post by **dschulpius** » Tue Dec 15, 2015 2:04 am

Robot Gone Wild!!

LOL. Here's my latest video I tried to take of my newly installed B9 arm I've designed. However while filming B9 took over the show and wouldn't let me properly show off his new appendage.

Bottom line is that the new arm pulls a lot of power and it's thrown off my ADC readings on the EZB. Scripts I've written to trigger movements and voice response get triggered randomly now. I'll have to find a way to smooth out my ADC ports and rewrite some scripts so this won't keep happening.

In the meantime enjoy the show and have a peel at the new arm installed on B9:
https://youtu.be/JHJgW0soosU

toborthegreat00150 · Post by **toborthegreat00150** » Tue Dec 15, 2015 9:39 am

Hello Dave: Just want to say that the mechanical arm looks amazing in the torso with all the movements. I could imagine what this is going to look like with the rubber arm and painted claw and wrist. Wow, just amazing, can not wait!!! Dave just some brief questions: 1. Are you wearing a headset for communication to the laptop (Blue tooth), then the laptop sends the commands to the EZ Board? What is the Max amount of feet of communication that the EZ Board would pick up the signals from the laptop? 2. MY BIGGEST QUESTION: Dave, when you give a command for the robot to say bend over, the robot can accept commands at the same time to do other functions? Is there a limit of functions or routines working at the same time? Is there are time delay between routines? thanks Dave, sorry for the questions. This system is truly amazing and this robot can teach robotics in college!!!!! Victor B9-0082 -----Original Message-----
From: dschulpius@gmail.com [B9Builders]
To: B9Builders
Sent: Tue, Dec 15, 2015 2:04 am
Subject: [B9Builders] Installed B9 Arm - Robot Gone Wild!!

Robot Gone Wild!!
LOL. Here's my latest video I tried to take of my newly installed B9 arm I've designed. However while filming B9 took over the show and wouldn't let me properly show off his new appendage.
Bottom line is that the new arm pulls a lot of power and it's thrown off my ADC readings on the EZB. Scripts I've written to trigger movements and voice response get triggered randomly now. I'll have to find a way to smooth out my ADC ports and rewrite some scripts so this won't keep happening.
In the meantime enjoy the show and have a peel at the new arm installed on B9: https://youtu.be/JHJgW0soosU

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Jeff DeRose · Post by **Jeff DeRose** » Tue Dec 15, 2015 9:52 am

There's nothing I can say that hasn't already been said. So just, wow!
Man but that's a complicated looking gizmo. It's EXACTLY what this 8 year old boy assumed was inside that arm in 1973.

Thanks for sharing Dave and so sorry about your huff arm.
-Jeff

Sent from my iPad

On Dec 14, 2015, at 11:04 PM, "dschulpius@gmail.com [B9Builders]" wrote:

Robot Gone Wild!!

LOL. Here's my latest video I tried to take of my newly installed B9 arm I've designed. However while filming B9 took over the show and wouldn't let me properly show off his new appendage.

Bottom line is that the new arm pulls a lot of power and it's thrown off my ADC readings on the EZB. Scripts I've written to trigger movements and voice response get triggered randomly now. I'll have to find a way to smooth out my ADC ports and rewrite some scripts so this won't keep happening.

In the meantime enjoy the show and have a peel at the new arm installed on B9:
https://youtu.be/JHJgW0soosU

toborthegreat00150 · Post by **toborthegreat00150** » Tue Dec 15, 2015 10:12 am

Hi Dave: One more quick question. On the entire arm, I remember back that you had a few potentiometers for feedback control. Is there one on the slide? Do they need to be mounted for most of the movements? I know on some movements, they should not be. This is so amazing and promise no more questions that might of been answered in the videos:) Santa is going to have to bring me a pair of these arms next Christmas Thanks again. Victor B9-0082 -----Original Message-----
From: Jeff DeRose jeff.derose@comcast.net [B9Builders]
To: B9Builders
Sent: Tue, Dec 15, 2015 9:52 am
Subject: Re: [B9Builders] Installed B9 Arm - Robot Gone Wild!!

There's nothing I can say that hasn't already been said. So just, wow!
Man but that's a complicated looking gizmo. It's EXACTLY what this 8 year old boy assumed was inside that arm in 1973.

Thanks for sharing Dave and so sorry about your huff arm.
-Jeff

Sent from my iPad

On Dec 14, 2015, at 11:04 PM, "dschulpius@gmail.com [B9Builders]" wrote:

Robot Gone Wild!!
LOL. Here's my latest video I tried to take of my newly installed B9 arm I've designed. However while filming B9 took over the show and wouldn't let me properly show off his new appendage.
Bottom line is that the new arm pulls a lot of power and it's thrown off my ADC readings on the EZB. Scripts I've written to trigger movements and voice response get triggered randomly now. I'll have to find a way to smooth out my ADC ports and rewrite some scripts so this won't keep happening.
In the meantime enjoy the show and have a peel at the new arm installed on B9: https://youtu.be/JHJgW0soosU

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James Chapman · Post by **James Chapman** » Tue Dec 15, 2015 10:31 am

Dave that is the coolest!
James

On Tuesday, December 15, 2015 9:13 AM, "Tobor001@aol.com [B9Builders]" wrote:

Hi Dave: One more quick question. On the entire arm, I remember back that you had a few potentiometers for feedback control. Is there one on the slide? Do they need to be mounted for most of the movements? I know on some movements, they should not be. This is so amazing and promise no more questions that might of been answered in the videos:) Santa is going to have to bring me a pair of these arms next Christmas Thanks again. Victor B9-0082 -----Original Message-----
From: Jeff DeRose jeff.derose@comcast.net [B9Builders]
To: B9Builders
Sent: Tue, Dec 15, 2015 9:52 am
Subject: Re: [B9Builders] Installed B9 Arm - Robot Gone Wild!!

There's nothing I can say that hasn't already been said. So just, wow!
Man but that's a complicated looking gizmo. It's EXACTLY what this 8 year old boy assumed was inside that arm in 1973.

Thanks for sharing Dave and so sorry about your huff arm.
-Jeff

Sent from my iPad

On Dec 14, 2015, at 11:04 PM, "dschulpius@gmail.com [B9Builders]" wrote:

Robot Gone Wild!!
LOL. Here's my latest video I tried to take of my newly installed B9 arm I've designed. However while filming B9 took over the show and wouldn't let me properly show off his new appendage.
Bottom line is that the new arm pulls a lot of power and it's thrown off my ADC readings on the EZB. Scripts I've written to trigger movements and voice response get triggered randomly now. I'll have to find a way to smooth out my ADC ports and rewrite some scripts so this won't keep happening.
In the meantime enjoy the show and have a peel at the new arm installed on B9: https://youtu.be/JHJgW0soosU

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Sandy Rivera · Post by **Sandy Rivera** » Tue Dec 15, 2015 11:25 am

AWESOME!!!

Sent from Yahoo Mail on Android

On Mon, Dec 14, 2015 at 11:04 PM, dschulpius@gmail.com [B9Builders] wrote:

Robot Gone Wild!!

LOL. Here's my latest video I tried to take of my newly installed B9 arm I've designed. However while filming B9 took over the show and wouldn't let me properly show off his new appendage.

Bottom line is that the new arm pulls a lot of power and it's thrown off my ADC readings on the EZB. Scripts I've written to trigger movements and voice response get triggered randomly now. I'll have to find a way to smooth out my ADC ports and rewrite some scripts so this won't keep happening.

In the meantime enjoy the show and have a peel at the new arm installed on B9:
https://youtu.be/JHJgW0soosU

David Schulpius · Post by **David Schulpius** » Tue Dec 15, 2015 12:58 pm

Thanks for the response guys. I'm glad you're enjoying watching my work progress.
Victor, Don't worry about asking questions. I'm happy to help if I have the answer. If I don't know I'll let you know.

I'll try to answer the ones's you've just asked:
Potentiometers for feedback control: Each motor or servo in my robot with the exception of the ones that turn continuously (ears and crown motor) have some type of feedback device. Without this the control software has no idea where the motor is or how fast it's moving.

***Servo's like are in the wrist and claws of my arm have their own pots along with a small circuit board mounted inside the servo case. Common servos like mine done report back the controller where the little DC motor it uses is and how fast it's going. These servos just receive info and use it's pot to move to a point requested at the wanted speed.

***DC motors like I have mounted at the elbow and radar section need some type of feedback device like a pot or encoder added. You can sometimes buy a motor from a Robot supply vendor with an encoder already installed. However most of the time you need to come up with some way to mount one either on the shaft of the DC motor or the pivot point of the joint you're moving. This can be challenging and requires ingenuity. ***Whether you use a pot or encoder depends on your application and motor controller. I like to use Sabertooth motor controllers with a Kangaroo X2 daughterboard attached that is in turn controlled by the EZ Robot's platform. The Kangaroo adds position and speed control to the Sabertooth (or SyRen controller). In my application the Roo works better, smoother and more precise if using a encoder. Seems to be easier to set up and tune also. I am using a virtually flat Softpot potentiometer at the elbow joint because of lack of space and struggle with accuracy when the arm retracts into the torso. I wish I could somehow find the room to mount a high resolution encoder on that joint. I could park the arm inside the torso with 100% certainty that it would be centered each time. Voice communication to the laptop : Right now I'm using the Blue Snowball desktop mic you see in the vid sitting next to my laptop. It's pretty good with picking up conversations or commands from all over a average sized room. However when there is a lot of background noise or other people talking it's very hard to get the robot to hear and understand me. Part of the problem is Windows Voice Recognition itself. In my experience it's weak and problematic and only works well with lots of training and a headset. If I wear a headset the accuracy goes way up and I hardly ever get false responses or have to repeat myself like you see in my vid. Dragon Naturally has a fantastic VR program that works way better than Windows but at this time I can't integrate it into my EZ Builder software. Control and response: My laptop is running the control software called EZ Builder. It's wirelessly connected over my home's WiFi network to three EZB's mounted in my robot. Two EZB's are mounted on top of the CSS about 6 inches from each other and the third is mounted in the leg section to control everything down there. I have nothing except a power cord between the torso and leg section. As long as my laptop can connect to my home router (even remotely from the other side of the world) and the EZB onboard the robot can connect, I can control the robot. The EZ Robot platform (EZ Builder) gets it's computing power from my laptop. The EZB's mounted on the robot has no computing power or ability to hold a program like an Arduino. All that is done on the laptop which is why EZ Robot has so much power and speed. The pre written code that runs in the background of EZ Builder is very complex and optimized that's it's lighting fast.That is what is really doing all the work. It's really only limited by your laptop and Wifi connection and other devices attached to it. Usually I have no lag what so ever. When a command is issued in EZ Builder the robot responds without hesitation. The only lag I've ever had is when something in the background is bogging down my laptop like a virus software scan or other heave processing computer functions. You may want to have a dedicated, lightly loaded laptop if you're going to use EZ Robot if you want problem free control. Not necessary, just me recommendation. The other thing that is mandatory is a strong and uncrowded WiFi signal. A new modern router set to a clean channel with the IP numbers of your EZB's and control computer reserved in the DCHP section is highly recommended by my own experience.
I hope this all makes sense and helps.
Happy building, Dave Schulpius

On Tue, Dec 15, 2015 at 10:25 AM, sandy rivera sandrockriver996@yahoo.com [B9Builders] wrote:

AWESOME!!!

Sent from Yahoo Mail on Android

Robot Gone Wild!!

LOL. Here's my latest video I tried to take of my newly installed B9 arm I've designed. However while filming B9 took over the show and wouldn't let me properly show off his new appendage.

Bottom line is that the new arm pulls a lot of power and it's thrown off my ADC readings on the EZB. Scripts I've written to trigger movements and voice response get triggered randomly now. I'll have to find a way to smooth out my ADC ports and rewrite some scripts so this won't keep happening.

In the meantime enjoy the show and have a peel at the new arm installed on B9:
https://youtu.be/JHJgW0soosU

toblueiis · Post by **toblueiis** » Tue Dec 15, 2015 1:30 pm

hello Dave,

thanks for taking the time to share a lot of interesting information, challenges as well as successes.

thanks,

David M.

--------------------------------------------

On Tue, 12/15/15, David Schulpius dschulpius@wi.rr.com [B9Builders] wrote:

Subject: Re: [B9Builders] Installed B9 Arm - Robot Gone Wild!!
To: "Tobor001@aol.com [B9Builders]"
Date: Tuesday, December 15, 2015, 11:57 AM

Thanks for the response guys.
I'm glad you're enjoying watching my work progress.

Victor, Don't worry about
asking questions. I'm happy to help if I have the
answer. If I don't know I'll let you know.
I'll try to answer the ones's you've just
asked:
Potentiometers for feedback control:
Each motor or servo in my robot with the exception of the
ones that turn continuously (ears and crown motor) have
some type of feedback device. Without this the
control software has no idea where the motor is or how fast
it's moving. ***Servo's like are in the wrist and
claws of my arm have their own pots along with
a small circuit board mounted inside the servo case.
Common servos like mine done report back the controller
where the little DC motor it uses is and how fast it's
going. These servos just receive info and use it's pot
to move to a point requested at
the wanted speed. ***DC motors like I have mounted at the
elbow and radar section need some type of feedback device
like a pot or encoder added. You can sometimes buy a motor
from a Robot supply vendor with an encoder already
installed. However most of the time you need to come up with
some way to mount one either on the shaft of the DC motor
or the pivot point of the joint you're moving. This
can be challenging and
requires ingenuity. ***Whether you use a pot or encoder depends on
your application and motor controller. I like to use
Sabertooth motor controllers with a Kangaroo X2
daughterboard attached that is in turn controlled by the EZ
Robot's platform. The Kangaroo adds position and speed
control to the Sabertooth (or SyRen controller). In
my application the Roo works better, smoother and
more precise if using a encoder. Seems to be easier to
set up and tune also. I am using
a virtually flat Softpot potentiometer at the
elbow joint because of lack of space and struggle
with accuracy when the arm retracts into the torso. I wish
I could somehow find the room to mount a
high resolution encoder on that joint. I could park the
arm inside the torso with 100% certainty that it would be
centered each time. Voice communication to
the laptop : Right now
I'm using the Blue Snowball desktop mic you see in
the vid sitting next to my laptop. It's pretty good
with picking up conversations or commands from all over a
average sized room. However when there is a lot of
background noise or other people talking it's very hard
to get the robot to hear and understand me. Part of the
problem is Windows Voice Recognition itself. In
my experience it's weak and problematic and only
works well with lots of training and a headset. If I wear a
headset the accuracy goes way up and I hardly ever get
false responses or have to repeat myself like you see in my
vid. Dragon Naturally has a fantastic VR program that works
way better than Windows but at this time
I can't integrate it into my EZ Builder
software. Control and response:
My laptop is running the control software called EZ
Builder. It's wirelessly connected over my home's
WiFi network to three EZB's mounted in my robot. Two
EZB's are mounted on top of the CSS about 6 inches from
each other and the third is mounted in the leg section to
control everything down there. I have nothing except a power
cord between the torso and leg section. As long as my laptop
can connect to my home router (even remotely from the other
side of the world) and the EZB onboard the robot can
connect, I can control the robot. The EZ Robot platform (EZ
Builder) gets it's computing power from my laptop. The
EZB's mounted on the robot has no computing power or
ability to hold a program like an Arduino. All that is done
on the laptop which is why EZ Robot has so much power and
speed. The pre written code that runs in the background of
EZ Builder is very complex and optimized that's it's
lighting fast.That is what is really doing all the work.
It's really only limited by your laptop and Wifi
connection and other devices attached to it. Usually I have
no lag what so ever. When a command is issued in EZ Builder
the robot responds without hesitation. The only lag I've
ever had is when something in the background is bogging down
my laptop like a virus software scan or other heave
processing computer functions. You may want to have a
dedicated, lightly loaded laptop if you're going to use
EZ Robot if you want problem free control. Not necessary,
just me recommendation. The other thing that is mandatory is
a strong and uncrowded WiFi signal. A new modern router set
to a clean channel with the IP numbers of your EZB's and
control computer reserved in the DCHP section is highly
recommended by my own experience.
I hope this all makes sense and
helps.
Happy building, Dave Schulpius

On Tue,
Dec 15, 2015 at 10:25 AM, sandy rivera sandrockriver996@yahoo.com
[B9Builders]
wrote:

AWESOME!!!

Sent
from Yahoo Mail on Android

Robot Gone Wild!!
LOL. Here's my latest video I tried
to take of my newly installed B9 arm I've designed.
However while filming B9 took over the show and wouldn't
let me properly show off his new appendage.
Bottom line is that the new arm pulls a
lot of power and it's thrown off my ADC readings on the
EZB. Scripts I've written to trigger movements and
voice response get triggered randomly now. I'll have
to find a way to smooth out my ADC ports and rewrite some
scripts so this won't keep happening.
In the meantime
enjoy the show and have a peel at the new arm installed on
B9:https://youtu.be/JHJgW0soosU

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Jim Easley · Post by **Jim Easley** » Tue Dec 15, 2015 1:42 pm

Dave, Have you considered using one of these https://www.grizzly.com/products/Absolute-Digital-Read-Out-6-/T26539 . It would probably be simple enough to hack the assembly and use it in place of a pot. I ve used this particular unit for my router table and you can cut the scale to a suitable length. I ve used pots for position sensing and even the best 10 turn Bourns potentiometers get noisy. Just a thought... Jim E From: B9Builders@yahoogroups.com Sent: Tuesday, December 15, 2015 9:57 AM To: B9Builders@yahoogroups.com Subject: Re: [B9Builders] Installed B9 Arm - Robot Gone Wild!!
Thanks for the response guys. I'm glad you're enjoying watching my work progress. Victor, Don't worry about asking questions. I'm happy to help if I have the answer. If I don't know I'll let you know.

I'll try to answer the ones's you've just asked: Potentiometers for feedback control: Each motor or servo in my robot with the exception of the ones that turn continuously (ears and crown motor) have some type of feedback device. Without this the control software has no idea where the motor is or how fast it's moving.

***Servo's like are in the wrist and claws of my arm have their own pots along with a small circuit board mounted inside the servo case. Common servos like mine done report back the controller where the little DC motor it uses is and how fast it's going. These servos just receive info and use it's pot to move to a point requested at the wanted speed.

***DC motors like I have mounted at the elbow and radar section need some type of feedback device like a pot or encoder added. You can sometimes buy a motor from a Robot supply vendor with an encoder already installed. However most of the time you need to come up with some way to mount one either on the shaft of the DC motor or the pivot point of the joint you're moving. This can be challenging and requires ingenuity. ***Whether you use a pot or encoder depends on your application and motor controller. I like to use Sabertooth motor controllers with a Kangaroo X2 daughterboard attached that is in turn controlled by the EZ Robot's platform. The Kangaroo adds position and speed control to the Sabertooth (or SyRen controller). In my application the Roo works better, smoother and more precise if using a encoder. Seems to be easier to set up and tune also. I am using a virtually flat Softpot potentiometer at the elbow joint because of lack of space and struggle with accuracy when the arm retracts into the torso. I wish I could somehow find the room to mount a high resolution encoder on that joint. I could park the arm inside the torso with 100% certainty that it would be centered each time. Voice communication to the laptop : Right now I'm using the Blue Snowball desktop mic you see in the vid sitting next to my laptop. It's pretty good with picking up conversations or commands from all over a average sized room. However when there is a lot of background noise or other people talking it's very hard to get the robot to hear and understand me. Part of the problem is Windows Voice Recognition itself. In my experience it's weak and problematic and only works well with lots of training and a headset. If I wear a headset the accuracy goes way up and I hardly ever get false responses or have to repeat myself like you see in my vid. Dragon Naturally has a fantastic VR program that works way better than Windows but at this time I can't integrate it into my EZ Builder software. Control and response: My laptop is running the control software called EZ Builder. It's wirelessly connected over my home's WiFi network to three EZB's mounted in my robot. Two EZB's are mounted on top of the CSS about 6 inches from each other and the third is mounted in the leg section to control everything down there. I have nothing except a power cord between the torso and leg section. As long as my laptop can connect to my home router (even remotely from the other side of the world) and the EZB onboard the robot can connect, I can control the robot. The EZ Robot platform (EZ Builder) gets it's computing power from my laptop. The EZB's mounted on the robot has no computing power or ability to hold a program like an Arduino. All that is done on the laptop which is why EZ Robot has so much power and speed. The pre written code that runs in the background of EZ Builder is very complex and optimized that's it's lighting fast.That is what is really doing all the work. It's really only limited by your laptop and Wifi connection and other devices attached to it. Usually I have no lag what so ever. When a command is issued in EZ Builder the robot responds without hesitation. The only lag I've ever had is when something in the background is bogging down my laptop like a virus software scan or other heave processing computer functions. You may want to have a dedicated, lightly loaded laptop if you're going to use EZ Robot if you want problem free control. Not necessary, just me recommendation. The other thing that is mandatory is a strong and uncrowded WiFi signal. A new modern router set to a clean channel with the IP numbers of your EZB's and control computer reserved in the DCHP section is highly recommended by my own experience. I hope this all makes sense and helps. Happy building, Dave Schulpius
On Tue, Dec 15, 2015 at 10:25 AM, sandy rivera sandrockriver996@yahoo.com [B9Builders] wrote:
AWESOME!!!

Sent from Yahoo Mail on Android

Robot Gone Wild!!

LOL. Here's my latest video I tried to take of my newly installed B9 arm I've designed. However while filming B9 took over the show and wouldn't let me properly show off his new appendage.

Bottom line is that the new arm pulls a lot of power and it's thrown off my ADC readings on the EZB. Scripts I've written to trigger movements and voice response get triggered randomly now. I'll have to find a way to smooth out my ADC ports and rewrite some scripts so this won't keep happening.

In the meantime enjoy the show and have a peel at the new arm installed on B9:
https://youtu.be/JHJgW0soosU

sjb0459 · Post by **sjb0459** » Tue Dec 15, 2015 4:56 pm

Brilliant!

Steve

Wilsons Sandbox