Welcome to Cyton-Lara’s documentation!¶

History¶

Version Alpha¶

First version. Arm Controled using API for SSC-32. Communication trough serial port RS-323.

Version 1.0 - Feedback Included¶

Hardware modified to allow direct feedback from robot joints position. Robot controled by USB using a Arduino Mega as interface to SSC-32 board and joint potentiometers.

Version 1.1 - Basic ROS Integration¶

Robot comunication with ROS trough serial port by the Arduino Mega. Hardware modified allowing use of multiple Serial communication ports.

Authors¶

Juarez ( Version Alpha )
De Hong Jung ( Version 1.0 )
Rafael Lima ( Version 1.1 )
Gabriel F. P. Araujo ( Version 1.1 )
Felipe Dalosto ( Version 1.2 )

Indices and tables¶

Cyton-LARA¶

Cyton Alpha 7D1G is a 7 DOF Robot Arm developed by Robai. It presents 9 servo motors controlled by a SSC-32 board. However, the servo motors does not provide position feedback. For this reason, the Cyton Alpha only allows open-loop projects, restricting a lot the possibilities of development. This project has as main goal closing the loop of the Cyton arm and developing a Matlab-Arduino user interface with some functions.

Spectification¶

Description¶

Servo Motor Feedback¶

Arduino Mega¶

Cyton was connected with an Arduino Mega to provided joint angle feedback and allow control trough USB with ROS.

Servo Control - Lynx SSC32¶

Joing Angles Feedback¶

Lynx SSC 32¶

ROS¶

The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms.