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![Page 1: WEEK 2...DARWIN-OP INTRODUCTION [DASL-104] INSTRUCTOR: JEAN CHAGAS VAZ WEEK 2 UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)UNIVERSITY OF NEVADA LAS](https://reader030.pdfslide.us/reader030/viewer/2022040915/5e8d145fcaba25543d5962c9/html5/thumbnails/1.jpg)
DARWIN-OP INTRODUCTION [DASL-104]
INSTRUCTOR: JEAN CHAGAS VAZ
WEEK 2
UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)
![Page 2: WEEK 2...DARWIN-OP INTRODUCTION [DASL-104] INSTRUCTOR: JEAN CHAGAS VAZ WEEK 2 UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)UNIVERSITY OF NEVADA LAS](https://reader030.pdfslide.us/reader030/viewer/2022040915/5e8d145fcaba25543d5962c9/html5/thumbnails/2.jpg)
UNIVERSITY OF NEVADA LAS VEGAS Drones and Autonomous Systems Lab (DASL@UNLV)
Sumário
Dynamixel
Robo-Plus
Dynamixel’s Calibration
DARwIn-OP & Ubuntu
Monitoring Dynamixels
through DARwIn-OP
References
Summary Dynamixel;
2
Tuesday, April 11, 2017, 09:41
Robo-Plus;
• Overview;
• Robo-Plus characteristic;
Dynamixel’s Calibration;
• Hands-On;
DARwIn-OP & Ubuntu;
Monitoring Dynamixels through DARwIn-OP;
• Dynamixel Wizard walkthrough;
• Walkthrough;
• Walkthrough;
• PID controller;
![Page 3: WEEK 2...DARWIN-OP INTRODUCTION [DASL-104] INSTRUCTOR: JEAN CHAGAS VAZ WEEK 2 UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)UNIVERSITY OF NEVADA LAS](https://reader030.pdfslide.us/reader030/viewer/2022040915/5e8d145fcaba25543d5962c9/html5/thumbnails/3.jpg)
UNIVERSITY OF NEVADA LAS VEGAS Drones and Autonomous Systems Lab (DASL@UNLV)
Summary
Robo-Plus
Dynamixel’s Calibration
DARwIn-OP & Ubuntu
Monitoring Dynamixels
through DARwIn-OP
References
Dynamixel
Dynamixel;
3
Tuesday, April 11, 2017, 09:41
Source: http://support.robotis.com
• Overview;
![Page 4: WEEK 2...DARWIN-OP INTRODUCTION [DASL-104] INSTRUCTOR: JEAN CHAGAS VAZ WEEK 2 UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)UNIVERSITY OF NEVADA LAS](https://reader030.pdfslide.us/reader030/viewer/2022040915/5e8d145fcaba25543d5962c9/html5/thumbnails/4.jpg)
UNIVERSITY OF NEVADA LAS VEGAS Drones and Autonomous Systems Lab (DASL@UNLV)
Summary
Dynamixel
Robo-Plus
Dynamixel’s Calibration
DARwIn-OP & Ubuntu
Monitoring Dynamixels
through DARwIn-OP
References
Dynamixel
Dynamixel;
4
Tuesday, April 11, 2017, 09:41
Source: http://support.robotis.com
• Overview;
• Specifications;
![Page 5: WEEK 2...DARWIN-OP INTRODUCTION [DASL-104] INSTRUCTOR: JEAN CHAGAS VAZ WEEK 2 UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)UNIVERSITY OF NEVADA LAS](https://reader030.pdfslide.us/reader030/viewer/2022040915/5e8d145fcaba25543d5962c9/html5/thumbnails/5.jpg)
UNIVERSITY OF NEVADA LAS VEGAS Drones and Autonomous Systems Lab (DASL@UNLV)
Summary
Dynamixel
Robo-Plus
Dynamixel’s Calibration
DARwIn-OP & Ubuntu
Monitoring Dynamixels
through DARwIn-OP
References
Dynamixel
Dynamixel;
5
Tuesday, April 11, 2017, 09:41
Source: http://support.robotis.com
• Overview;
• Performance Graph;
![Page 6: WEEK 2...DARWIN-OP INTRODUCTION [DASL-104] INSTRUCTOR: JEAN CHAGAS VAZ WEEK 2 UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)UNIVERSITY OF NEVADA LAS](https://reader030.pdfslide.us/reader030/viewer/2022040915/5e8d145fcaba25543d5962c9/html5/thumbnails/6.jpg)
UNIVERSITY OF NEVADA LAS VEGAS Drones and Autonomous Systems Lab (DASL@UNLV)
Summary
Dynamixel
Robo-Plus
Dynamixel’s Calibration
DARwIn-OP & Ubuntu
Monitoring Dynamixels
through DARwIn-OP
References
Robo-Plus
6
Tuesday, April 11, 2017, 09:41
Robo-Plus;
• Robo-Plus characteristic;
Source: http://support.robotis.com
![Page 7: WEEK 2...DARWIN-OP INTRODUCTION [DASL-104] INSTRUCTOR: JEAN CHAGAS VAZ WEEK 2 UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)UNIVERSITY OF NEVADA LAS](https://reader030.pdfslide.us/reader030/viewer/2022040915/5e8d145fcaba25543d5962c9/html5/thumbnails/7.jpg)
UNIVERSITY OF NEVADA LAS VEGAS Drones and Autonomous Systems Lab (DASL@UNLV)
Summary
Dynamixel
Robo-Plus
Dynamixel’s Calibration
DARwIn-OP & Ubuntu
Monitoring Dynamixels
through DARwIn-OP
References
Robo-Plus
7
Tuesday, April 11, 2017, 09:41
Robo-Plus;
• Robo-Plus characteristic;
Source: http://support.robotis.com
![Page 8: WEEK 2...DARWIN-OP INTRODUCTION [DASL-104] INSTRUCTOR: JEAN CHAGAS VAZ WEEK 2 UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)UNIVERSITY OF NEVADA LAS](https://reader030.pdfslide.us/reader030/viewer/2022040915/5e8d145fcaba25543d5962c9/html5/thumbnails/8.jpg)
UNIVERSITY OF NEVADA LAS VEGAS Drones and Autonomous Systems Lab (DASL@UNLV)
Summary
Dynamixel
Robo-Plus
Dynamixel’s Calibration
DARwIn-OP & Ubuntu
Monitoring Dynamixels
through DARwIn-OP
References
Dynamixel’s Calibration
8
Tuesday, April 11, 2017, 09:41
Dynamixel’s Calibration;
• PID controller; MX series will use the PID controller as a main control method. P gain refers to the value of proportional band. I gain refers to the value of integral action. D Gain refers to the value of derivative action. Gains values are in between 0~254.
Source: http://support.robotis.com
![Page 9: WEEK 2...DARWIN-OP INTRODUCTION [DASL-104] INSTRUCTOR: JEAN CHAGAS VAZ WEEK 2 UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)UNIVERSITY OF NEVADA LAS](https://reader030.pdfslide.us/reader030/viewer/2022040915/5e8d145fcaba25543d5962c9/html5/thumbnails/9.jpg)
UNIVERSITY OF NEVADA LAS VEGAS Drones and Autonomous Systems Lab (DASL@UNLV)
Summary
Dynamixel
Robo-Plus
Dynamixel’s Calibration
DARwIn-OP & Ubuntu
Monitoring Dynamixels
through DARwIn-OP
References
Dynamixel’s Calibration
9
Tuesday, April 11, 2017, 09:41
Dynamixel’s Calibration;
• Hands-On;
Source: http://support.robotis.com
![Page 10: WEEK 2...DARWIN-OP INTRODUCTION [DASL-104] INSTRUCTOR: JEAN CHAGAS VAZ WEEK 2 UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)UNIVERSITY OF NEVADA LAS](https://reader030.pdfslide.us/reader030/viewer/2022040915/5e8d145fcaba25543d5962c9/html5/thumbnails/10.jpg)
UNIVERSITY OF NEVADA LAS VEGAS Drones and Autonomous Systems Lab (DASL@UNLV)
Summary
Dynamixel
Robo-Plus
Dynamixel’s Calibration
DARwIn-OP & Ubuntu
Monitoring Dynamixels
through DARwIn-OP
References
DARwIn-OP & Ubuntu
10
Tuesday, April 11, 2017, 09:41
DARwIn-OP & Ubuntu;
• Walkthrough;
![Page 11: WEEK 2...DARWIN-OP INTRODUCTION [DASL-104] INSTRUCTOR: JEAN CHAGAS VAZ WEEK 2 UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)UNIVERSITY OF NEVADA LAS](https://reader030.pdfslide.us/reader030/viewer/2022040915/5e8d145fcaba25543d5962c9/html5/thumbnails/11.jpg)
UNIVERSITY OF NEVADA LAS VEGAS Drones and Autonomous Systems Lab (DASL@UNLV)
Summary
Dynamixel
Robo-Plus
Dynamixel’s Calibration
DARwIn-OP & Ubuntu
Monitoring Dynamixels
through DARwIn-OP
References
DARwIn-OP & Ubuntu
11
Tuesday, April 11, 2017, 09:41
DARwIn-OP & Ubuntu;
• Walkthrough;
![Page 12: WEEK 2...DARWIN-OP INTRODUCTION [DASL-104] INSTRUCTOR: JEAN CHAGAS VAZ WEEK 2 UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)UNIVERSITY OF NEVADA LAS](https://reader030.pdfslide.us/reader030/viewer/2022040915/5e8d145fcaba25543d5962c9/html5/thumbnails/12.jpg)
UNIVERSITY OF NEVADA LAS VEGAS Drones and Autonomous Systems Lab (DASL@UNLV)
Summary
Dynamixel
Robo-Plus
Dynamixel’s Calibration
DARwIn-OP & Ubuntu
Monitoring Dynamixels
through DARwIn-OP
References
Monitoring Dynamixels
through DARwIn-OP
12
Tuesday, April 11, 2017, 09:41
Monitoring Dynamixels through DARwIn-OP; • Walkthrough;
![Page 13: WEEK 2...DARWIN-OP INTRODUCTION [DASL-104] INSTRUCTOR: JEAN CHAGAS VAZ WEEK 2 UNIVERSITY OF NEVADA LAS VEGAS DRONES AND AUTONOMOUS SYSTEMS LAB (DASL@UNLV)UNIVERSITY OF NEVADA LAS](https://reader030.pdfslide.us/reader030/viewer/2022040915/5e8d145fcaba25543d5962c9/html5/thumbnails/13.jpg)
Summary
Dynamixel
Robo-Plus
Dynamixel’s Calibration
DARwIn-OP & Ubuntu
Monitoring Dynamixels
through DARwIn-OP
References
Tuesday, April 11, 2017, 09:41
References
• http://support.robotis.com/en/software/roboplus/dynamixel_wizard/mx_calibration.htm
• http://www.trossenrobotics.com/dynamixel-mx-28-robot-actuator.aspx
13
UNIVERSITY OF NEVADA LAS VEGAS Drones and Autonomous Systems Lab (DASL@UNLV)
