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GSM1DemoMachine.md

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Hardware Testing - AnkleMotus M1 Ankle Robot

This page introduces the M1DemoMachine and M1ROSDemoMachine, two example CORC apps showing the basic use of the M1 ankle rehabilitation robot.

The M1 is a one DoF admittance based robot developed by Fourier Intelligence:

ArmMotus M2 with frames AnkleMotus M1 and torque control framework.

The state machine code can be found in the folder src/apps/M1DemoMachine.

It demonstrates the use of:

  • The different control modes of M1 (position, velocity, or torque)
  • The use of the force measurements

The state machine code can be found in the folder src/apps/M1ROSDemoMachine.

It demonstrates the use of:

  • The different control modes of M1 in ROS system (position, velocity, or torque)
  • The use of the force measurements

Setup instruction

It is assumed that an Ubuntu PC is used and ROS is installed. If this is not the case for you, please visit here and here.

If not already installed, install ros_control:

$ sudo apt-get install ros-<melodic or noetic>-ros-control ros-<melodic or noetic>-ros-controllers

Create a catkin workspace if you don't have one yet:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin build

Clone CORC and the required packages into your workspace:

$ cd ~/catkin_ws/src
$ git clone --recurse-submodules https://github.com/UniMelbHumanRoboticsLab/CANOpenRobotController.git

Build and run M1DemoMachine

Configure the CMakeList.txt, select the M1DemoMachine, and set the flags for using a real robot:

#include(src/apps/ExoTestMachine/app.cmake)
include(src/apps/M1DemoMachine/app.cmake)
#include(src/apps/M1DemoMachineROS/app.cmake)
#include(src/apps/M2DemoMachine/app.cmake)
#include(src/apps/M3DemoMachine/app.cmake)

...

# Comment to use actual hardware, uncomment for a nor robot (virtual) app
set(NO_ROBOT OFF)

Build CORC:

$ cd ~/catkin_ws
$ catkin build CORC
$ source devel/setup.bash

Initialize the CAN device (No need to repeat this step, unless you restart your PC):

$  cd script
$  ./initCAN0.sh

Run the compiled executable file:

$ cd ~/catkin_ws
$ sudo ./build/CORC/M1DemoMachine_APP

Use keyboard to explore different controllers:

  • Key S: start zeroing/calibration
  • Key X: start monitoring torque reading
  • Key A: position, velocity, and torque controller demonstrations
  • Key Q: return to idle state

Build and run M1DemoMachineROS

Configure the CMakeList.txt, select the M1DemoMachineROS, and set the flag for using a real robot:

#include(src/apps/ExoTestMachine/app.cmake)
#include(src/apps/M1DemoMachine/app.cmake)
include(src/apps/M1DemoMachineROS/app.cmake)
#include(src/apps/M2DemoMachine/app.cmake)
#include(src/apps/M3DemoMachine/app.cmake)

...

# Comment to use actual hardware, uncomment for a nor robot (virtual) app
set(NO_ROBOT OFF)

Build CORC:

$ cd ~/catkin_ws
$ catkin build CORC
$ source devel/setup.bash

Initialize the CAN device (No need to repeat this step, unless you restart your PC):

$  cd script
$  ./initCAN0.sh

Run the compiled executable file:

$ cd ~/catkin_ws
$ roslaunch CORC m1_real.launch