{"id":897,"date":"2002-08-27T00:00:05","date_gmt":"2002-08-26T22:00:05","guid":{"rendered":"http:\/\/astrozor.cz\/?p=897"},"modified":"2010-07-28T21:26:51","modified_gmt":"2010-07-28T19:26:51","slug":"robot-pepa-2","status":"publish","type":"post","link":"https:\/\/www.robozor.cz\/?p=897","title":{"rendered":"Robot Pepa 2"},"content":{"rendered":"

Nov\u00fd pokusn\u00fd animatronick\u00fd robot pro pobaven\u00ed d\u011bt\u00ed a hlavn\u011b tat\u00ednka. Robot Pepa 2 je tak\u00e9 ten hlavn\u00ed d\u016fvod pro\u010d \u010dl\u00e1nky na Robozoru pon\u011bkud zamrzly. Prost\u011b jsem si hr\u00e1l s novou hra\u010dkou a na Robozor nebyl \u010das. Pokus\u00edm se n\u011bco dal\u0161\u00edho p\u0159idat.<\/p>\n

Tak jsem se pustil do stavby robota Pepy II. St\u00e1le pro n\u011bj nem\u00e1m lep\u0161\u00ed jm\u00e9no. Inspirov\u00e1n projektem PINO (http:\/\/www.openpino.org\/<\/a>) jsem se pustil do stavby animatronick\u00e9ho robota, kter\u00fd se svou konstrukc\u00ed aspo\u0148 tro\u0161ku podob\u00e1 \u010dlov\u011bku. St\u00e1hnout si video robota PINO si m\u016f\u017eete i\u00a0tady<\/a> (4,7Mb). \u0158\u00edkal jsem si, \u017ee by zat\u00edm sta\u010dil nemobiln\u00ed spole\u010dn\u00edk se kter\u00fdm bych si mohl hr\u00e1t na stole. Rozebral jsem p\u016fvodn\u00edho Pepu I a s\u00e1hl ke zbytk\u016fm stavebnice Merkur.
\nPo n\u011bkolika v\u00edkendov\u00fdch pokusech se z\u00e1kladn\u00edm skeletem jsem postavil hrubou kostru a rozhodoval se pro \u201estupn\u011b volnosti\u201c. Celkem na to padlo zat\u00edm 15 servomotor\u016f Hitec 322 Eco. M\u016f\u017eete je koupit t\u0159eba tady:
\nhttp:\/\/www.direkt-obchody.cz\/hitec_serva.htm<\/a>,
\ncena je v dob\u011b, kdy p\u00ed\u0161u tento \u010dl\u00e1nek, 359,- v\u010detn\u011b dan\u011b.
\nPo\u010d\u00edt\u00e1m je\u0161t\u011b s roz\u0161\u00ed\u0159en\u00edm mo\u017enost\u00ed \u201erukou\u201c robota. Ale zat\u00edm rozchod\u00edm co m\u00e1m. Serva maj\u00ed \u201es\u00edlu\u201c asi 3kg na centimer a to nen\u00ed mnoho. Aby robot nem\u011bl probl\u00e9my s pohybem, musel jsem dost po\u010d\u00edtat a p\u0159estavovat mechanickou konstrukci. Nakonec p\u0159i\u0161lo na l\u00e1m\u00e1n\u00ed chleba. Bu\u010f koupit siln\u011bj\u0161\u00ed (a zna\u010dn\u011b dr\u017e\u0161\u00ed 2 a\u017e 3 tis\u00edce) serva, nebo uchytit zade\u010dek robota k podstav\u011b a tak odleh\u010dit spodn\u00ed \u010d\u00e1sti robota. Druh\u00e1 varianta zv\u00edt\u011bzila. Robot ztratil mobilitu \u00fapln\u011b, ale zato m\u016f\u017ee vykop\u00e1vat ob\u011b nohy jako spr\u00e1vn\u00fd karatista ani\u017e ztrat\u00ed rovnov\u00e1hu.<\/p>\n

Serva jsou \u0159\u00edzena do s\u00e9rie zapojen\u00fdmi dv\u011bma servokontrol\u00e9ry SOS-AT (http:\/\/www.rotta.cz\/<\/a>). Takto mohu jednou s\u00e9riovou linkou \u0159\u00eddit najednou a\u017e 16 servomotor\u016f. Nap\u00e1jen\u00ed servomotor\u016f je nutno m\u00edt odd\u011blen\u00e9 od nap\u00e1jen\u00ed servokontrol\u00e9r\u016f. Na serva pou\u017e\u00edv\u00e1m 1,5 amp\u00e9rov\u00fd regulovateln\u00fd zdroj a mus\u00edm \u0159\u00edct, \u017ee b\u011b\u017e\u00ed opravdu na doraz. Mus\u00edm n\u011bkde sehnat aspo\u0148 3 amp\u00e9ry. Servokontrol\u00e9ry napaj\u00edm 4 x 1,2V (1600mA) akumul\u00e1tor\u016f. Jejich odb\u011br je mal\u00fd.<\/p>\n

Nakonec p\u0159i\u0161el na \u0159adu software. Ovl\u00e1d\u00e1n\u00ed serva ve Visual Basicu je vcelku snadn\u00e9. Sta\u010d\u00ed do formul\u00e1\u0159e vlo\u017eit comm control pro komunikaci se s\u00e9riov\u00fdm portem a prov\u00e9st jeho nastaven\u00ed:<\/p>\n

Private Sub Form_Load( )
\nMSComm1.Settings = „9600,N,8,1“ ‚Rychlost=9600, \u017d\u00e1dn\u00e1 parita, 8-bits data, 1 stopbit.
\nMSComm1.CommPort = 1 ‚Nastav\u00ed comport \u010d\u00edslo 1
\nMSComm1.PortOpen = True ‚Otev\u0159e port pro pou\u017eit\u00ed
\nEnd Sub<\/p>\n

Potom sta\u010d\u00ed poslat instrukce na jednotliv\u00e1 serva:<\/p>\n

Private Sub Move()
\nMSComm1.Output = Chr$(255) ‚Po\u0161le synchroniza\u010dn\u00ed znak
\nMSComm1.Output = Chr$(0) ‚Po\u0161le \u010d\u00edslo serva pro kter\u00fd bude n\u00e1sleduj\u00edc\u00ed p\u0159\u00edkaz. Nezapom\u00ednejte, \u017ee serva se zna\u010d\u00ed 0-7 (celkem 8 serv). Toto je tedy pro prvn\u00ed servo.
\nMSComm1.Output = Chr$(170) ‚Po\u0161le posici serva. Hodnoty mohou b\u00fdt od 0 do 254.
\nEnd Sub<\/p>\n

Serva mohou m\u00edt 90 stup\u0148\u016f (45st na ka\u017edou stranu) nebo i 180 stup\u0148\u016f (90st na ka\u017edou stranu). Dle typu. Hitec 322 Eco serva, kter\u00e1 pou\u017e\u00edv\u00e1m j\u00e1, maj\u00ed 180 stup\u0148\u016f.<\/p>\n

S t\u00edmto z\u00e1kladem si m\u016f\u017eete postavit sv\u016fj vlastn\u00ed animatronick\u00fd software. Nicm\u00e9n\u011b pro n\u011bkoho m\u016f\u017ee b\u00fdt zaj\u00edmav\u00e9 se pod\u00edvat po ji\u017e hotov\u00fdch produktech a tady je jejich p\u0159ehled tak jak jsem je objevoval na inetu.<\/p>\n

http:\/\/www.howtoandroid.com\/RobotControl-PerlTk.html<\/a>
\nProgram pro linux (velmi jednoduch\u00fd) napsan\u00fd v PerlTK.<\/p>\n

http:\/\/members.aol.com\/iamflb\/Sweet_1.htm<\/a>
\nSweet servo 16 vypadalo zaj\u00edmav\u011b ale nedostal jsem se k n\u011bmu.<\/p>\n

http:\/\/www.rentron.com\/Robo-Ware.htm<\/a>
\nM\u00e1m a sou\u010dasnou verzi nedoporu\u010duji. Za tu cenu dostanete i lep\u0161\u00ed.<\/p>\n

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obr 1<\/p><\/div>\n

http:\/\/www.seetron.com\/ssc_an1.htm<\/a>
\nJednoduch\u00e1 knihovna kter\u00e1 pou\u017e\u00edv\u00e1 v\u00fd\u0161e uveden\u00fd algoritmus.<\/p>\n

http:\/\/www.brookshiresoftware.com\/<\/a>
\nVSA m\u00e1m a je nejlep\u0161\u00ed jak\u00fd jsem zat\u00edm na\u0161el. V\u010detn\u011b exportu dat na kter\u00fd d\u011bl\u00e1m free p\u0159ehr\u00e1va\u010d. V\u00edce se o n\u011bm zm\u00edn\u00edm pozd\u011bji.<\/p>\n

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obr 2<\/div>\n
Animatronick\u00e1 za\u0159\u00edzen\u00ed se hojn\u011b u\u017e\u00edv\u00e1 ve filmov\u00e9m pr\u016fmyslu. Pomoc\u00ed n\u00ed je mo\u017eno rozpohybovat r\u016fzn\u00e9 p\u0159\u00ed\u0161erky. Dobr\u00fdm startem jak z\u00edskat v\u00edce informac\u00ed o animatronice a projektech kolem n\u00ed je n\u00e1sleduj\u00edc\u00ed str\u00e1nka.
\nhttp:\/\/www.androidworld.com\/prod18.htm<\/a><\/p>\n

Existuje hodn\u011b velice zaj\u00edmav\u00fdch projekt\u016f postaven\u00fdch na t\u00e9to technologii. Mne opravdu uchv\u00e1tilo \u201ed\u0159ev\u011bn\u00e9 zrdcadlo\u201c.
\nhttp:\/\/formen.ign.com\/news\/24815.html<\/a>.<\/div>\n

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Zrcadlo pou\u017e\u00edv\u00e1:
\n830 serv
\n108 kontroler\u016f
\n11 jich je na 1 comu
\nPC ma 2 comporty onboard + 8 outboard
\nrefresh je 15obr\u00e1zku\/s
\nbyl potreba 100 amerovy zdroj na 5V!
\nna na\u0161e pen\u00edze by jste jen za materi\u00e1l utratili asi 400tis\u00edc (neuva\u017euji mno\u017estevn\u00ed slevy).<\/p>\n

Pro to, aby jste alespo\u0148 trochu efektivn\u011b animovali stvo\u0159en\u00ed s 15ti servy, nesta\u010d\u00ed pos\u00edlat jednotliv\u00e9 polohy serv p\u0159\u00edmo z k\u00f3du. Je dobr\u00e9 m\u00edt n\u011bjak\u00fd editor tak, aby byl vid\u011bt rozsah pohyb\u016f na \u010dasov\u00e9 ose. Ide\u00e1ln\u011b v synchronizaci s n\u011bjakou hudbou. Na toto se velmi dob\u0159e hod\u00ed sofware od Brookshire software jak jsem doporu\u010doval v\u00fd\u0161e. Jejich VSA (Visual servo automation) za 55,95$ je docela dob\u0159e ud\u011blan\u00fd s mo\u017enostmi, kter\u00e9 p\u0159id\u00e1vaj\u00ed, oproti konkurenci, na hodnot\u011b. Nap\u0159\u00edklad synchronizaci s hudbou maj\u00ed i jin\u00e9 produkty, ale asi jen tento synchronizuje i dnes roz\u0161\u00ed\u0159en\u00e9 mp3. D\u00e1le je kompatibiln\u00ed nejen s kontrolerem MiniSSC (to je ten n\u00e1\u0161), ale i s Pontech SV203 http:\/\/www.pontech.com\/products\/sv200bc\/index.htm<\/a>. Nakonec s n\u00edm m\u016f\u017eete ovl\u00e1dat i Mondotronics‘ Serial Motor Interface (SMI) http:\/\/www.robotstore.com\/<\/a> (co\u017e je interface pro DC motorky), proto\u017ee vyu\u017e\u00edv\u00e1 stejn\u00e9 instrukce jako MiniSSC.
\nMo\u017en\u00e1 by se mohl naj\u00edt n\u011bkdo, kdo by takov\u00fd a mo\u017en\u00e1 i lep\u0161\u00ed animatronick\u00fd software naprogramoval jako freeware \u010di jako opensource projekt. Nakonec je pro mne ide\u00e1ln\u00ed vlastnost VSA a toti\u017e export jednotliv\u00fdch p\u0159\u00edkaz\u016f do csv souboru. Bude pak snadn\u00e9 pro tento soubor ud\u011blat jednoduch\u00fd p\u0159ehr\u00e1va\u010d a ten za\u010dlenit p\u0159\u00edmo do softwaru robota.<\/p>\n

Je\u0161t\u011b n\u011bco m\u00e1lo k servokontrol\u00e9r\u016fm, kter\u00e9 jsou kompatibiln\u00ed s MiniSSC. N\u00e1vod v\u010detn\u011b programu k jedno\u010dipu najdete na http:\/\/vlastikd.fbi.cz\/bastl\/servocontrol.htm<\/a>. Pokud chcete koupit ji\u017e hotov\u00e9 za\u0159\u00edzen\u00ed m\u016f\u017eete se obr\u00e1tit na http:\/\/www.rotta.cz<\/a>, kde za cenu cca 700,- prod\u00e1vaj\u00ed AT-SOS (co\u017e je adresovateln\u00fd servokonrol\u00e9r pro 8 serv kompatibiln\u00ed s MiniSSC). Pokud jste n\u011bkde nap\u016fl cesty, kdy si to chcete bastlit sami a nejste zrovna kamar\u00e1di s programov\u00e1n\u00edm jedno\u010dip\u016f zkuste http:\/\/www.cyberchip.bezstarosti.cz\/<\/a>. Zde je dal\u0161\u00ed alternativa zapojen\u00ed a autor v\u00e1m po\u0161le (podle sv\u00fdch slov na str\u00e1nce) naprogramovan\u00fd Atmel za 350,-. Proto\u017ee se jedn\u00e1 o vcelku roz\u0161\u00ed\u0159en\u00fd standard (serva), je informac\u00ed o \u0159\u00edzen\u00ed serv na inetu docela dost.<\/p>\n

Je\u0161t\u011b n\u011bkolik obr\u00e1zk\u016f robota Pepy 2:<\/p>\n

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obr 21<\/p><\/div>\n","protected":false},"excerpt":{"rendered":"

Nov\u00fd pokusn\u00fd animatronick\u00fd robot pro pobaven\u00ed d\u011bt\u00ed a hlavn\u011b tat\u00ednka. Robot Pepa 2 je tak\u00e9 ten hlavn\u00ed d\u016fvod pro\u010d \u010dl\u00e1nky na Robozoru pon\u011bkud zamrzly. Prost\u011b jsem si hr\u00e1l s novou hra\u010dkou a na Robozor nebyl \u010das. Pokus\u00edm se n\u011bco dal\u0161\u00edho p\u0159idat. Tak jsem se pustil do stavby robota Pepy II. St\u00e1le pro n\u011bj nem\u00e1m lep\u0161\u00ed …<\/p>\n

Continue reading ‘Robot Pepa 2’ »<\/a><\/p>\n","protected":false},"author":3,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-897","post","type-post","status-publish","format-standard","hentry","category-nezarazene"],"_links":{"self":[{"href":"https:\/\/www.robozor.cz\/index.php?rest_route=\/wp\/v2\/posts\/897","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.robozor.cz\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.robozor.cz\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.robozor.cz\/index.php?rest_route=\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/www.robozor.cz\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=897"}],"version-history":[{"count":2,"href":"https:\/\/www.robozor.cz\/index.php?rest_route=\/wp\/v2\/posts\/897\/revisions"}],"predecessor-version":[{"id":925,"href":"https:\/\/www.robozor.cz\/index.php?rest_route=\/wp\/v2\/posts\/897\/revisions\/925"}],"wp:attachment":[{"href":"https:\/\/www.robozor.cz\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=897"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.robozor.cz\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=897"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.robozor.cz\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=897"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}