이게 먼소리여..
유니버셜 로봇 강의 가서
다른 사람들이 손가락으로 막 이상한 짓(?) 하고 있어서
웬지 좌표계 같아서 찾아보는데 이해가 안된다 ㅠㅠ
좀 보다 보니..
오른손 좌표계에서
축 증가방향 - 엄지(x) 검지(y) 중지(z)
축 회전방향 - 따봉했을때 검지-중지-약지-새끼 의 방향
| mycobot280_pi urdf (0) | 2026.06.22 |
|---|---|
| 블루로봇 밸런스 스테이지 (0) | 2026.06.21 |
| elephant robotics cobot python api (0) | 2026.06.19 |
| elephant robotics mycobot 280 pi python 예제 (0) | 2026.06.16 |
| 유니버셜 로봇 polyscope 5 (0) | 2026.06.16 |
URDF 포맷의 정보를 이용하면 관절관의 거리 등이 있어서
ROS2 나 moveit2 에서 충돌 검사를 통해서 자기 파괴하지 않도록 할 수 있다고 한다.
moveit은 ros 1용
moveit2는 ros 2 용인듯. 그런데 단독 사용은 안되려나?
[링크 : https://github.com/moveit/moveit2]
| <?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" > <xacro:property name="width" value=".2" /> <link name="g_base"> <visual> <geometry> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/G_base.dae"/> </geometry> <origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/> </visual> <collision> <geometry> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/G_base.dae"/> </geometry> <origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/> </collision> </link> <link name="joint1"> <visual> <geometry> <!--- 0.0 0 -0.04 1.5708 3.14159--> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint1_pi.dae"/> </geometry> <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> </visual> <collision> <geometry> <!--- 0.0 0 -0.04 1.5708 3.14159--> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint1_pi.dae"/> </geometry> <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> </collision> </link> <link name="joint2"> <visual> <geometry> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint2.dae"/> </geometry> <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/> </visual> <collision> <geometry> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint2.dae"/> </geometry> <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/> </collision> </link> <link name="joint3"> <visual> <geometry> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint3.dae"/> </geometry> <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/> </visual> <collision> <geometry> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint3.dae"/> </geometry> <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/> </collision> </link> <link name="joint4"> <visual> <geometry> <!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint4.dae"/> </geometry> <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/> </visual> <collision> <geometry> <!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint4.dae"/> </geometry> <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/> </collision> </link> <link name="joint5"> <visual> <geometry> <!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/> </geometry> <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/> </visual> <collision> <geometry> <!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/> </geometry> <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/> </collision> </link> <link name="joint6"> <visual> <geometry> <!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint6.dae"/> </geometry> <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/> </visual> <collision> <geometry> <!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint6.dae"/> </geometry> <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/> </collision> </link> <link name="joint6_flange"> <visual> <geometry> <!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint7.dae"/> </geometry> <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> </visual> <collision> <geometry> <!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint7.dae"/> </geometry> <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> </collision> </link> <joint name="g_base_to_joint1" type="fixed"> <axis xyz="0 0 0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> <parent link="g_base"/> <child link="joint1"/> <origin xyz= "0 0 0" rpy = "0 0 0"/> </joint> <joint name="joint2_to_joint1" type="revolute"> <axis xyz="0 0 1"/> <limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/> <parent link="joint1"/> <child link="joint2"/> <origin xyz= "0 0 0.13956" rpy = "0 0 0"/> </joint> <joint name="joint3_to_joint2" type="revolute"> <axis xyz="0 0 1"/> <limit effort = "1000.0" lower = "-2.4434" upper = "2.4434" velocity = "0"/> <parent link="joint2"/> <child link="joint3"/> <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/> </joint> <joint name="joint4_to_joint3" type="revolute"> <axis xyz=" 0 0 1"/> <limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/> <parent link="joint3"/> <child link="joint4"/> <origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/> </joint> <joint name="joint5_to_joint4" type="revolute"> <axis xyz=" 0 0 1"/> <limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/> <parent link="joint4"/> <child link="joint5"/> <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/> </joint> <joint name="joint6_to_joint5" type="revolute"> <axis xyz="0 0 1"/> <limit effort = "1000.0" lower = "-2.7052" upper = "2.7925" velocity = "0"/> <parent link="joint5"/> <child link="joint6"/> <origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/> </joint> <joint name="joint6output_to_joint6" type="revolute"> <axis xyz="0 0 1"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> <parent link="joint6"/> <child link="joint6_flange"/> <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/> </joint> </robot> |
엥 ur5e 니가 왜 여기서 나와 -ㅁ-
[링크 : https://github.com/jdj2261/pykin]
[링크 : https://ropiens.tistory.com/177] << 볼 것 링크
| 왼손 오른손 좌표계 (0) | 2026.06.22 |
|---|---|
| 블루로봇 밸런스 스테이지 (0) | 2026.06.21 |
| elephant robotics cobot python api (0) | 2026.06.19 |
| elephant robotics mycobot 280 pi python 예제 (0) | 2026.06.16 |
| 유니버셜 로봇 polyscope 5 (0) | 2026.06.16 |
AVR 때는 자주 쓴거 같은데
stm32 되면서 함수를 통해 1개 핀에 대해서만 바꾸다 보니 불편해서 찾아보는데
머.. 결국은 레지스터 건드릴 수 밖에 없는 듯
ODR 값 읽고 마스킹 후에 한번에 갈아 치우는게 나을 듯
| If you want the whole port (all 16 pins) get the value, then you simply write it to the ODR register: GPIOB->ODR = 0xFFFF; //writing 1/0 in a bit position, sets/resets that bit. ALL BITS ARE AFFECTED no matter the value your write in. If you want to set some pins, but not altering the other pins, with one instruction: GPIOB->BSRR = 0x00F; //writing 1 in a bit position, sets that bit leaves the others as they are If you want to reset some pins, but not altering the other pins, with one instruction: GPIOB->BRR = 0x00F; //writing 1 in a bit position, clears that bit and leaves the others as they are If you want a "portion" of a GPIO port to get an specific value, this method is 2 instructions instead of "read-change-write": GPIOB->BRR = 0x00F; //clear the first 4 bits GPIOB->BSRR = 0x00A; //set the desired bits in that 4-bit field |
ODR 정도는 low level 함수로 존재하나 보다.
| using LL API: LL_GPIO_WriteOutputPort(GPIOA,x); |
| wtite_bits(uint16_t cmd) { uint32_t data = GPIOA -> ODR; data &= ~(0x1fff); data |= cmd & 0x1fff; GPIOA -> ODR = data; data = GPIOB -> ODR; data &= ~(0x0007); data |= (cmd & 0x8fff) >> 13; GPIOB -> ODR = data; } |
[링크 : https://stackoverflow.com/questions/48365156/stm32f4-write-read-16bits-into-two-8-bit-gpio-port]
| stm32 uart data bit (0) | 2026.03.17 |
|---|---|
| stm32 다른 영역으로 점프(부트로더) (0) | 2026.03.06 |
| stm32cubeide cpp 변환이후 generate code (0) | 2026.02.25 |
| mbed + stm32cube hal...? (0) | 2026.02.23 |
| Mbed studio on ubuntu 22.04 (0) | 2026.02.23 |
유튜브 보다가 광고를 다 본건 또 첨이네 ㅋㅋㅋ
처음에는 이게 머하는 거여~ 싶었는데
보다보니 만져볼만큼 싼 곳에 들어갈 장비가 아니라는 느낌만 잔뜩~ 드는 녀석
[링크 : https://www.youtube.com/watch?v=jJ7jJ0ciF4g]
[링크 : https://www.youtube.com/watch?v=SKrBfwh6R_8]
[링크 : https://bluerobot.co.kr/]
아래는 유튜브 광고 찾기 ㅋㅋㅋ
[링크 : https://adstransparency.google.com/?platform=YOUTUBE®ion=KR]
[링크 : https://www.reddit.com/r/youtube/comments/1kajmpx/how_to_find_an_ad_i_saw/?tl=ko]
| 왼손 오른손 좌표계 (0) | 2026.06.22 |
|---|---|
| mycobot280_pi urdf (0) | 2026.06.22 |
| elephant robotics cobot python api (0) | 2026.06.19 |
| elephant robotics mycobot 280 pi python 예제 (0) | 2026.06.16 |
| 유니버셜 로봇 polyscope 5 (0) | 2026.06.16 |
BOOT1 이라고 오른쪽 중간에 있는 곳을 잘 보면
BOOT0가 있는데 그걸 좌측 세번째 X3 crystal 근처의 3V 와 연결(pull up)
우측의 SDRAM 이라고 써있는 근처에 PA9 PA10를 USB TTL UART에 적당히~ 연결해주면 끝
잘 읽네. 그런데 속도 못 올리나.. 쩝..
| $ stm32flash /dev/ttyUSB0 stm32flash 0.5 http://stm32flash.sourceforge.net/ Interface serial_posix: 57600 8E1 Version : 0x31 Option 1 : 0x00 Option 2 : 0x00 Device ID : 0x0419 (STM32F42xxx/43xxx) - RAM : Up to 192KiB (12288b reserved by bootloader) - Flash : Up to 2048KiB (size first sector: 1x16384) - Option RAM : 65552b - System RAM : 30KiB |
| $ stm32flash -r dump.bin /dev/ttyUSB0 stm32flash 0.5 http://stm32flash.sourceforge.net/ Interface serial_posix: 57600 8E1 Version : 0x31 Option 1 : 0x00 Option 2 : 0x00 Device ID : 0x0419 (STM32F42xxx/43xxx) - RAM : Up to 192KiB (12288b reserved by bootloader) - Flash : Up to 2048KiB (size first sector: 1x16384) - Option RAM : 65552b - System RAM : 30KiB Memory read Read address 0x08052100 (16.03%) ^C |
| stm32_programmer_cli 를 이용한 option byte 변경 (0) | 2026.03.19 |
|---|---|
| NUCLEO-WL55JC (0) | 2026.03.17 |
| stm32g473 ART accelerator on/off ? (0) | 2026.02.06 |
| stm32g473 flash doubleword (0) | 2026.02.04 |
| STM32G47x dual bank flash (0) | 2026.02.03 |
좌표는 mm 단위인가?
| mycobot_280 | mycobot_320 |
 |
 |
atom 버튼 누르면 release_all_servos() 를 실행하고
damping 모드 되어있으면 팔이 떨어지진 않을것 같으니 원하는대로 옮기고
atom 버튼 떼면
get_angles() 나 get_coords() 해서 좌표 받고, power_on() 해서 서보 고정하고 끝.. 하면 좀 편하게 되려나?
| ### 1. System Status #### `get_modify_version()` #### `clear_queue()` #### `check_async_or_sync()` #### `get_system_version()` #### `get_basic_version()` #### `get_error_information()` #### `clear_error_information()` #### `get_reboot_count()` ### 2. Overall Status #### `power_on()` #### `power_off()` #### `is_power_on()` #### `release_all_servos()` #### `focus_servo(servo_id)` #### `is_controller_connected()` #### `read_next_error()` #### `get_fresh_mode()` #### `set_fresh_mode()` #### `set_free_mode()` #### `is_free_mode()` #### `focus_all_servos()` #### `set_vision_mode()` ### 3.MDI Mode and Operation #### `get_angles()` #### `get_angles_plan()` #### `send_angle(id, degree, speed)` #### `send_angles(angles, speed)` #### `get_coords()` #### `get_coords_plan()` #### `send_coord(id, coord, speed)` #### `send_coords(coords, speed, mode)` #### `pause()` #### `sync_send_angles(angles, speed, timeout=15)` #### `sync_send_coords(coords, speed, mode=0, timeout=15)` #### `get_angles_coords()` #### `is_paused()` #### `resume()` #### `stop()` #### `is_in_position(data, flag)` #### `is_moving()` #### `angles_to_coords(angles)` #### `solve_inv_kinematics(target_coords, current_angles)` #### `drag_start_record()` #### `drag_end_record()` #### `drag_get_record_data()` #### `drag_get_record_len()` #### `drag_clear_record_data()` ### 4. JOG Mode and Operation #### `jog_angle(joint_id, direction, speed)` #### `jog_coord(coord_id, direction, speed)` #### `jog_rpy(end_direction, direction, speed)` #### `jog_increment_angle(joint_id, increment, speed)` #### `jog_increment_coord(id, increment, speed)` #### `set_encoder(joint_id, encoder, speed)` #### `get_encoder(joint_id)` #### `set_encoders(encoders, speed)` #### `get_encoders()` ### 5. Running status and Settings #### `get_joint_min_angle(joint_id)` #### `get_joint_max_angle(joint_id)` #### `set_joint_min(id, angle)` #### `set_joint_max(id, angle)` ### 6. Joint motor control #### `is_servo_enable(servo_id)` #### `is_all_servo_enable()` #### `set_servo_calibration(servo_id)` #### `release_servo(servo_id)` #### `focus_servo(servo_id)` #### `set_servo_data(servo_id, data_id, value, mode=None）` #### `get_servo_data(servo_id, data_id, mode=None）` #### `joint_brake(joint_id）` ### 7. 9g Servo #### `move_round()` #### `set_four_pieces_zero()` ### 8. Servo state value #### `get_servo_speeds()` #### `get_servo_voltages()` #### `get_servo_status()` #### `get_servo_temps()` ### 9. Robotic arm end IO control #### `set_color(r, g, b)` #### `set_digital_output(pin_no, pin_signal)` #### `get_digital_input(pin_no)` #### `set_pin_mode(pin_no, pin_mode)` ### 10. Robotic arm end gripper control #### `set_gripper_state(flag, speed, _type_1=None)` #### `set_gripper_value(gripper_value, speed, gripper_type=None)` #### `gripper_stop()` #### `set_gripper_calibration()` #### `is_gripper_moving()` #### `get_gripper_value()` #### `set_pwm_output(channel, frequency, pin_val)` #### `set_HTS_gripper_torque(torque)` #### `get_HTS_gripper_torque()` #### `get_gripper_protect_current()` #### `set_gripper_protect_current(current)` #### `init_gripper()` ### 11. Set bottom IO input/output status #### `set_basic_output(pin_no, pin_signal)` #### `get_basic_input(pin_no)` ### 12. WLAN Setting #### `set_ssid_pwd(account, password)` #### `get_ssid_pwd()` #### `set_server_port(port)` ### 13. TOF #### `get_tof_distance()` ### 14. Communication mode #### `set_transponder_mode(mode)` #### `get_transponder_mode()` ### 15. Cartesian space coordinate parameter setting #### `set_tool_reference(coords)` #### `get_tool_reference(coords)` #### `set_world_reference(coords)` #### `get_world_reference()` #### `set_reference_frame(rftype)` #### `get_reference_frame()` #### `set_movement_type(move_type)` #### `get_movement_type()` #### `set_end_type(end)` #### `get_end_type()` ### 16. Raspberry pi -- GPIO #### `gpio_init()` #### `gpio_output(pin, v)` ### 17. utils (module) #### `utils.get_port_list()` #### `utils.detect_port_of_basic()` |
[링크 : https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_280_en.md]
[링크 : https://github.com/elephantrobotics/pymycobot]
Gcode 읽어서 그거대로 움직이는 예제가 demo로 있다.
[링크 : https://github.com/elephantrobotics/pymycobot/tree/main/demo/myCobot_280_demo[
| mycobot280_pi urdf (0) | 2026.06.22 |
|---|---|
| 블루로봇 밸런스 스테이지 (0) | 2026.06.21 |
| elephant robotics mycobot 280 pi python 예제 (0) | 2026.06.16 |
| 유니버셜 로봇 polyscope 5 (0) | 2026.06.16 |
| 로봇 tcp 확인 (0) | 2025.04.25 |
오랫만에 하니 다 까먹었고, 정보도 없고 ㅠㅜ
| from pymycobot.mycobot import MyCobot from pymycobot import PI_PORT, PI_BAUD mc = MyCobot(PI_PORT, PI_BAUD) mc.set_color(0,0,255) #blue light on mc.send_angles([0, 0, 0, 0, 0, 0], 30) |
| >>> PI_PORT '/dev/ttyAMA0' >>> PI_BAUD 1000000 |
[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/7-ApplicationBasePython/7.7_example.html]
[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/7-ApplicationBasePython/7.4_IO.html]
| 블루로봇 밸런스 스테이지 (0) | 2026.06.21 |
|---|---|
| elephant robotics cobot python api (0) | 2026.06.19 |
| 유니버셜 로봇 polyscope 5 (0) | 2026.06.16 |
| 로봇 tcp 확인 (0) | 2025.04.25 |
| 로봇 좌표계, TCP ... 2? (0) | 2024.09.02 |
실습하러 갔다 왔었는데 다시 찾아보니 polyscope X 버전이 아닌 5 였나 보다.
아래는 레인보우 로보틱스의 타블렛 프로그램 UI
jog mode 2로 바꾸고 하면 TCP 자세와 동일하게 조작이 가능할 듯?
| elephant robotics cobot python api (0) | 2026.06.19 |
|---|---|
| elephant robotics mycobot 280 pi python 예제 (0) | 2026.06.16 |
| 로봇 tcp 확인 (0) | 2025.04.25 |
| 로봇 좌표계, TCP ... 2? (0) | 2024.09.02 |
| elephantrobotics Mycobot-pi atom (0) | 2024.07.11 |
20x4 캐릭터 LCD
와우 비싸네
[링크 : https://www.devicemart.co.kr/goods/view?no=1075079]
회사 pcb 쓰레기통에서 적출!
을 하드웨어팀 인원에게 빼달라고 요청함 ㅋㅋ
| 아두이노 나노 전류 (0) | 2025.10.14 |
|---|---|
| arduino nano로 4채널 pwm 출력하기 (0) | 2025.10.11 |
| 아두이노 시리얼 이벤트 핸들러 (0) | 2025.10.09 |
| 퀄컴 아두이노 인수 (0) | 2025.10.08 |
| 아두이노 sd 카드 spi 방식 (0) | 2025.08.24 |
1080 ti 가지고 해보려고 했는데 버전이나 다른 문제가 있는지 영안되서
강제로 cpu 로 돌리는데(export CUDA_VISIBLE_DEVICES=-1)
저 선이 얼마나 올라가야 하나 감이 안와서 찾아보는데
엌.. epoch 150.. 어쩌구
| When looking at the visual results of papers, I found that their images showed a sudden increase in accuracy at the 80th epoch( the figure6 in paper "ON THE VARIANCE OF THE ADAPTIVE LEARNING RATE AND BEYOND" ) enter image description here or 150th epoch（the figure3 in paper"ADAPTIVE GRADIENT METHODS WITH DYNAMICBOUND OF LEARNING RATE"） |
아무튼 steps 로 보고 있는건 의미가 없고
만 스텝 넘어가기 시작하는데 노란색 점이 조금씩 올라가는거 보면. 어마어마 하게 돌려야 하나보다.
epoch가 100단위로 가려면 어우..
로그를 보니, train 일 때 그래프가 갱신된다.
val쪽이 더 빠르게 진행되고, train은 확실히 느리게 진행된다.
| [ssd_mobilenet_v3][Epoch: 8]: val | val-acc: 0.1179 | val-loss: 1.2944 | lr: 0.0100000 |: 100%|██████████| 339/339 [01:16<00:00, 5.04it/s] [ssd_mobilenet_v3][Epoch: 9]: train | acc: 0.2176 | loss: 1.2766 | lr: 0.0100000 |: 0%| | 1/1355 [00:00<14:12, 1.59it/s] |
+
2026.05.28
먼가.. 주기적으로 확 떨어지는게 보이는데.. 문제가 있는건 아니겠지?
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| eiq 모델 정리 (0) | 2025.09.16 |
| eiq 데이터 구조 (0) | 2025.09.05 |
| ubuntu 22.04 + cuda + cudnn 설치 (0) | 2025.09.04 |
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