https://pvela.gatech.edu/classes/ 2026-04-17T13:04:41+00:00 https://pvela.gatech.edu/classes/ https://pvela.gatech.edu/classes/lib/exe/fetch.php?media=wiki:dokuwiki.svg text/html 2024-09-23T17:37:36+00:00 typos (typos@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=dynamixel:ros&rev=1727113056&do=diff Dynamixel Motors: ROS Interface ---------- This section refers you to instructions for installing the ROS Dynamixel motor stack as well as associated tutorials to operate the motors on ROS. Prerequisite: This assumes: * instructions in hardware setup have been completed. text/html 2024-09-23T17:33:21+00:00 typos (typos@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=dynamixel:sw_prelim&rev=1727112801&do=diff Dynamixel Motors: Matlab API ---------- Here, we walk through set up and example scripts to communicate with connected Dynamixel motors, using Matlab. Prerequisite: This assumes instructions in hardware setup have been completed. Clone Repositories Clone the text/html 2024-09-23T17:31:40+00:00 typos (typos@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=dynamixel:hardware&rev=1727112700&do=diff Dynamixel Motors: Hardware Setup ---------- Hardware components and cables are illustrated below. Numbers labelling each component in the image correspond to those in the follow-on tables. [Hardware Overview] Component List ID Component 1 OpenCM EXP485 (power-communication junction) text/html 2024-09-23T17:30:53+00:00 typos (typos@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?image=dynamixel%3Ajunction_u2d2_powered.png&ns=dynamixel&rev=1727112653&tab_details=history&media_do=diff&do=media <img src="https://pvela.gatech.edu/classes/lib/exe/fetch.php?w=500&amp;h=500&amp;tok=5f4fbe&amp;media=dynamixel:junction_u2d2_powered.png" alt="junction_u2d2_powered.png" loading="lazy" width="500" height="500" /> text/html 2024-09-23T17:30:53+00:00 typos (typos@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?image=dynamixel%3Au2d2_freecable.png&ns=dynamixel&rev=1727112653&tab_details=history&media_do=diff&do=media <img src="https://pvela.gatech.edu/classes/lib/exe/fetch.php?w=500&amp;h=500&amp;tok=7bedbd&amp;media=dynamixel:u2d2_freecable.png" alt="u2d2_freecable.png" loading="lazy" width="500" height="500" /> text/html 2024-09-23T17:30:53+00:00 typos (typos@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?image=dynamixel%3Ajunction.png&ns=dynamixel&rev=1727112653&tab_details=history&media_do=diff&do=media <img src="https://pvela.gatech.edu/classes/lib/exe/fetch.php?w=500&amp;h=500&amp;tok=ef3fbe&amp;media=dynamixel:junction.png" alt="junction.png" loading="lazy" width="500" height="500" /> text/html 2024-09-23T17:30:53+00:00 typos (typos@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?image=dynamixel%3Ahw_overview.png&ns=dynamixel&rev=1727112653&tab_details=history&media_do=diff&do=media <img src="https://pvela.gatech.edu/classes/lib/exe/fetch.php?w=500&amp;h=500&amp;tok=a93401&amp;media=dynamixel:hw_overview.png" alt="hw_overview.png" loading="lazy" width="500" height="500" /> text/html 2024-09-23T17:30:53+00:00 typos (typos@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?image=dynamixel%3Ajunction_u2d2_ax12_power.png&ns=dynamixel&rev=1727112653&tab_details=history&media_do=diff&do=media <img src="https://pvela.gatech.edu/classes/lib/exe/fetch.php?w=500&amp;h=500&amp;tok=99006a&amp;media=dynamixel:junction_u2d2_ax12_power.png" alt="junction_u2d2_ax12_power.png" loading="lazy" width="500" height="500" /> text/html 2024-09-23T17:30:53+00:00 typos (typos@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?image=dynamixel%3Au2d2_junction_connect_led.png&ns=dynamixel&rev=1727112653&tab_details=history&media_do=diff&do=media <img src="https://pvela.gatech.edu/classes/lib/exe/fetch.php?w=500&amp;h=500&amp;tok=837575&amp;media=dynamixel:u2d2_junction_connect_led.png" alt="u2d2_junction_connect_led.png" loading="lazy" width="500" height="500" /> text/html 2024-09-23T17:30:53+00:00 typos (typos@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?image=dynamixel%3Au2d2_junction_connect.png&ns=dynamixel&rev=1727112653&tab_details=history&media_do=diff&do=media <img src="https://pvela.gatech.edu/classes/lib/exe/fetch.php?w=500&amp;h=500&amp;tok=bf2aba&amp;media=dynamixel:u2d2_junction_connect.png" alt="u2d2_junction_connect.png" loading="lazy" width="500" height="500" /> text/html 2024-09-23T17:29:20+00:00 typos (typos@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=dynamixel:main&rev=1727112560&do=diff [IVALab Tutorial] Getting Started With Dynamixel Motors ---------- Many IVALab robots are constructed using Dynamixel motors and compatible products (eg. connecting frames), manufactured and sold by Robotis. The Dynamixel line of motors sits somewhere between cheaper hobbyist servos and higher-end industrial solutions. They come equipped with several convenient features (eg. encoder position sensing, temperature/load sensing, over-voltage protection, serial communication, etc.). text/html 2023-12-03T17:19:29+00:00 classes (classes@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:lynx6:06resratefull&rev=1701623969&do=diff Lynx6: Resolved Rate Trajectory Generation for Configuration ---------- Here, the Lynx6 manipulator Jacobian (using your link lengths) will be used to follow a trajectory. For this problem, attempt to generate a trajectory from the initial $g_i$ from the spline problem that moves with a constant body velocity $\xi$$g_f$$\alpha$$\xi$$SE(3)$$\alpha$$\alpha$$\xi$$g_e(\alpha_f)$$g_e(\alpha(t_f))$$g_{err} = [g_e(\alpha(t_f))]^{-1} g_e(\alpha_f)$$\xi_{err}$$\xi_{err}$$SE(3)$ text/html 2023-12-03T17:03:53+00:00 classes (classes@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:lynx6:05resratepos&rev=1701623033&do=diff Lynx6: Resolved Rate Trajectory Generation for Position ---------- Here, the Lynx6 manipulator Jacobian (using your link lengths) will be used to follow a trajectory. Basically, given $\alpha(0)$ and the body manipulator Jacobian, one can use resolved rate trajectory generation to follow a given desired trajectory. $Pos(g_i) = d_i$$Pos(g_f) = d_f$$\alpha$$v$$d_f$$[g_e(\alpha(t))]^{-1}$$\xi(t)$$E(3)$$\alpha$$\alpha$$SE(3)$ text/html 2023-11-28T17:24:47+00:00 classes (classes@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=turtlebot:adventures:sensing102_hints&rev=1701192287&do=diff Connecting to the Kinect Sensor w/out Color+Depth Registration If you have trouble with subscribing to the depth data or to the linescan data, then it may be that the main publisher needed is not running, or is publishing to another topic. One fix, found text/html 2023-11-08T23:30:56+00:00 classes (classes@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?image=ece4560%3Aslides%3Aece4560_w11_manipulatorjacobian.pptx&ns=ece4560%3Aslides&rev=1699486256&tab_details=history&media_do=diff&do=media <img src="https://pvela.gatech.edu/classes/lib/images/fileicons/svg/pptx.svg" alt="ece4560_w11_manipulatorjacobian.pptx" loading="lazy" width="500" height="500" /> text/html 2023-11-08T23:28:04+00:00 classes (classes@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:lectures&rev=1699486084&do=diff ECE4560 Lecture Notes ---------- Since I haven't had time to latex up my evolving lectures, the next best thing would be to provide the source notes that are used to generate them. There are two versions here, * [Original notes] from 2005. * [Student notes] from 2007 (recommended).$SO(3)$$\mathfrak{so}(3)$ text/html 2023-11-07T16:30:19+00:00 classes (classes@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=turtlebot:adventures:wandering&rev=1699374619&do=diff Turtlebot: Wandering Like a Zombie ---------- Intro Here, we will try to combine a little bit of sensing with actuation, but it will be somewhat mindless. Given the popularity of zombies at the time of this writing, let's say that we are creating a zombie mode for the turtlebot. Historically this zombie mode has been called wandering; it's a rite of passage for robotics students to create their own wandering zombie robot. text/html 2023-10-26T20:11:32+00:00 classes (classes@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?image=ece4560%3Aslides%3Aece4560_w10_trajectorygeneration.pptx&ns=ece4560%3Aslides&rev=1698351092&tab_details=history&media_do=diff&do=media <img src="https://pvela.gatech.edu/classes/lib/images/fileicons/svg/pptx.svg" alt="ece4560_w10_trajectorygeneration.pptx" loading="lazy" width="500" height="500" /> text/html 2023-09-19T16:10:45+00:00 classes (classes@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:liegroupcode&rev=1695139845&do=diff $SE(2)/SE(3)$ As Matlab Classes In the course, you will flesh out the class definition files for two important Lie group descriptions related to robotic systems, $SE(2)$ and $SE(3)$. The default implementation is homogeneous matrix form. You are free to use other compatible representations so long as the specifics are kept internal to the class.$SE(2)$$SE(3)$ text/html 2023-09-19T12:46:21+00:00 classes (classes@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=turtlebot:firstlaunch&rev=1695127581&do=diff Turtlebot: First Time Running Alright, so it's your first time with the Turtlebot. Where to begin? The online Turtlebot ROS wiki has some tutorials/tips on how to start. Once they've been skimmed, you are ready to “Get Started.” Most likely, if you are new to the Turtlebot, then you are new to ROS (Robot Operating System). ROS is a bunch of written code that runs on top of the standard operating system with lots of functionalities and operations like those of an operating system but tailo… text/html 2023-09-13T13:55:50+00:00 classes (classes@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:piktul:01calib&rev=1694613350&do=diff Piktul: Calibration Activity Every robot needs to be calibrated in some manner or another. This activity is about doing that for the small planar Piktul robot that you'll be working with first. A huge chunk of the information can be found in the manipulation interface documentation page which includes both the Matlab files you'll need to proceed plus the instructions for how to connect and calibrate the text/html 2023-09-13T13:50:18+00:00 classes (classes@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:piktul:02fkin&rev=1694613018&do=diff Piktul: Forward Kinematics Compute the forward kinematics of the Piktul manipulator. The home configuration should have the robot arm straight out and up at some height. Doing so defines the zero transformation for the rotational joint variables. The linear joint coordinates should go to whatever value is specified (for these zero as a length should be sensible). Most of the piktul robotic arms can't quite manage a zero gripper height (except for one or two of the super-saggy ones), and it … text/html 2023-09-13T13:42:42+00:00 classes (classes@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=manipulator:adventures&rev=1694612562&do=diff Manipulator: Learning Adventures ---------- Assumptions: This series of adventures is predicated on concurrently taking the ECE4560 course, so that the material being explored maps to lecture and reading material. To complete the adventures, you will naturally need access to the robots themselves as well as some familiarity with object oriented programming in Matlab (e.g., class implementations in Matlab will be coded as part of getting the manipulator to work). 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