Barrett WAM Arm Manuel utilisateur

WAMTM Arm

User’s Manual

Document: D1001

Version: AH.00

WAM Arm – User’s Manual [email protected] www.barrett.com

Table of Contents

TABLE OF CONTENTS...............................................................................................................1

TABLE OF CONTENTS...............................................................................................................2

LIST OF FIGURES........................................................................................................................4

LIST OF TABLES..........................................................................................................................5

LIST OF EQUATIONS .................................................................................................................5

1SYSTEM DESCRIPTION.....................................................................................................6

1.1 STANDARD WAM SYSTEM COMPONENTS......................................................................... 6

1.1.1 System Features........................................................................................................6

1.1.2 Documentation..........................................................................................................6

1.1.3 WAM Arm.................................................................................................................7

1.1.4 Tool-End Attachments ..............................................................................................8

1.1.5 Power Supply.......................................................................................................... 10

1.1.6 Safety Pendants.......................................................................................................10

1.1.7 Electrical Cables ....................................................................................................11

1.1.8 Control Software and Firmware.............................................................................11

1.1.9 Maintenance Kit .....................................................................................................11

1.2 SYSTEM OPTIONS ............................................................................................................ 13

1.2.1 WAM Wrist .............................................................................................................13

1.2.2 Passive Gimbals .....................................................................................................14

1.2.3 External WAM PC..................................................................................................15

1.2.4 Control Software/Firmware Upgrades...................................................................16

2SAFETY AND CAUTIONS.................................................................................................16

2.1 SAFETY INSTRUCTIONS ................................................................................................... 16

2.2 SAFETY SYSTEM:PENDANTS........................................................................................... 17

2.2.1 Safety States............................................................................................................17

2.2.2 Status Lights ...........................................................................................................17

2.3 HANDLING SAFETY FAULTS ............................................................................................ 18

3SYSTEM SETUP..................................................................................................................19

3.1 MOUNTING ...................................................................................................................... 19

3.2 GROUNDING .................................................................................................................... 20

3.3 INSTALLING THE EXTERNAL PC (OPTIONAL) .................................................................. 20

3.3.1 Physical Installation...............................................................................................20

3.3.2 Software installation...............................................................................................20

3.4 WAM WRIST (OPTIONAL) .............................................................................................. 20

3.5 SAFETY BOARD SETTINGS ............................................................................................... 22

3.6 ELECTRICAL CONNECTIONS ............................................................................................ 23

3.6.1 Power Source..........................................................................................................23

3.6.2 Pendants.................................................................................................................23

3.6.3 Communications.....................................................................................................24

3.7 POWER-UP SEQUENCE..................................................................................................... 24

3.8 CODE EXAMPLES............................................................................................................. 25

4PC & CONTROL SOFTWARE..........................................................................................26

4.1 LIBRARY OVERVIEW ....................................................................................................... 26

4.2 FILE SYSTEM LAYOUT..................................................................................................... 27

4.3 THE CONFIGURATION FILE (WAM.CONF)......................................................................... 27

4.4 OPERATING MODES......................................................................................................... 27

4.5 UPDATING FIRMWARE..................................................................................................... 28

4.5.1 Pucks™...................................................................................................................28

WAM Arm – User’s Manual [email protected] www.barrett.com

4.5.2 Safety Board........................................................................................................... 29

5WAM COMMANDS LIST.................................................................................................. 30

6WAM PROPERTIES LIST................................................................................................. 31

6.1 COMMON PROPERTIES..................................................................................................... 31

6.2 MOTOR PROPERTIES........................................................................................................ 36

6.3 SAFETY-MODULE PROPERTIES........................................................................................ 42

6.4 KEY TO PROPERTY TABLE............................................................................................... 45

7CANBUS COMMUNICATION SPECIFICATIONS....................................................... 46

7.1 DATA LINK SPECIFICATIONS ........................................................................................... 46

7.2 CANBUS TIMING ............................................................................................................ 46

7.3 ID SPECIFICATIONS ......................................................................................................... 46

7.3.1 Message IDs........................................................................................................... 46

7.3.2 Motor IDs and Groups........................................................................................... 46

7.4 CANBUS FRAME DATA PAYLOAD .................................................................................. 47

7.4.1 Standard CANbus Message Format....................................................................... 47

7.4.2 Exceptions .............................................................................................................. 47

7.5 FULL COMMUNICATION EXAMPLE .................................................................................. 48

8TROUBLESHOOTING....................................................................................................... 49

8.1 CHECKING THE ERROR LOG ............................................................................................ 49

8.2 COMMON PROBLEMS ...................................................................................................... 50

9THEORY OF OPERATION............................................................................................... 56

9.1 ELECTRONIC ARCHITECTURE .......................................................................................... 56

9.2 KINEMATICS,TRANSMISSION RATIOS,AND JOINT RANGES ............................................ 58

9.2.1 4 DOF and 7 DOF ................................................................................................. 58

9.2.2 4 DOF with Gimbals.............................................................................................. 66

9.2.3 Motor-to-Joint Transformations............................................................................. 68

APPENDIX A INTEGRATING A BARRETTHAND™ ................................................... 70

APPENDIX B TECHNICAL SPECIFICATIONS............................................................. 71

APPENDIX C FAQ ............................................................................................................... 74

APPENDIX D GLOSSARY.................................................................................................. 76

INDEX........................................................................................................................................... 79

WAM Arm – User’s Manual [email protected] www.barrett.com

List of Figures

FIGURE 1-WAM ARM ..................................................................................................................... 7

FIGURE 2-BLANK OUTER LINK ........................................................................................................ 8

FIGURE 3-END PLATES OF WRIST AND OUTER LINK........................................................................ 8

FIGURE 4–HAPTIC BALL .................................................................................................................. 9

FIGURE 5–TOOL PLATE ................................................................................................................... 9

FIGURE 6–CAN TERMINATION ........................................................................................................ 9

FIGURE 7–POWER SUPPLY ............................................................................................................. 10

FIGURE 8–SAFETY PENDANTS ....................................................................................................... 10

FIGURE 9–ELECTRICAL CABLES .................................................................................................... 11

FIGURE 10 –MAINTENANCE KIT ..................................................................................................... 12

FIGURE 11 –WAM WRIST .............................................................................................................. 13

FIGURE 12 –WRIST MAINTENANCE KIT.......................................................................................... 14

FIGURE 13 –GIMBALS OPTION........................................................................................................ 15

FIGURE 14 –EXTERNAL WAM PC.................................................................................................. 15

FIGURE 15 –BACK OF EXTERNAL WAM PC................................................................................... 15

FIGURE 16 –WAM WORKSPACE .................................................................................................... 16

FIGURE 17 –WAM RESPONSES TO ERRORS AND REQUESTS........................................................... 19

FIGURE 18 –SCREW-HOLE LOCATIONS ........................................................................................... 19

FIGURE 19 –MOUNTING-HOLE MEASUREMENTS............................................................................ 19

FIGURE 20 –WRIST CONNECTOR .................................................................................................... 21

FIGURE 21 –SEPARATING THE OUTER LINK.................................................................................... 21

FIGURE 22: CLOSE-UP OF OUTER LINK CONNECTION ...................................................................... 21

FIGURE 23 –SAFETY BOARD SWITCHES.......................................................................................... 22

FIGURE 26 –DC POWER CABLE (BLUE) .......................................................................................... 23

FIGURE 27 –PENDANT CABLES....................................................................................................... 23

FIGURE 28 –WIRELESS ACCESS POINT ON WAM BACKPLATE ....................................................... 24

FIGURE 29 –CAN CABLE (PURPLE)................................................................................................. 24

FIGURE 30 –SAFETY BOARD COVER............................................................................................... 29

FIGURE 31 –SERIAL CABLE ............................................................................................................ 29

FIGURE 32 –SERIAL CONNECTION WITH SWITCH IN “ON”POSITION .............................................. 29

FIGURE 33 –WAM SYSTEM COMPONENTS ..................................................................................... 56

FIGURE 34 –WAM SYSTEM SCHEMATIC ........................................................................................ 57

FIGURE 35 –WAM 4-DOF DIMENSIONS AND D-H FRAMES ............................................................ 58

FIGURE 36 –WAM 7-DOF DIMENSIONS AND D-H FRAMES ............................................................ 59

FIGURE 37 –WAM ARM JOINT 1FRAMES AND LIMITS................................................................... 60

FIGURE 38 –WAM ARM JOINT 2FRAMES AND LIMITS................................................................... 60

FIGURE 39 –WAM ARM JOINT 3FRAMES AND LIMITS................................................................... 61

FIGURE 40 –WAM ARM JOINT 4FRAMES AND LIMITS................................................................... 61

FIGURE 41 –WAM ARM JOINT 5FRAMES AND LIMITS................................................................... 62

FIGURE 42 –WAM ARM JOINT 6FRAMES AND LIMITS................................................................... 62

FIGURE 43 –WAM ARM JOINT 7FRAMES AND LIMITS................................................................... 63

FIGURE 44 –DENAVIT-HARTENBERG FRAMES –4-DOF +GIMBALS .............................................. 66

FIGURE 45 –WAM DIMENSIONS .................................................................................................... 72

FIGURE 46 –TOOL PLATE DIMENSIONS........................................................................................... 73

FIGURE 47 –CABLE DIFFERENTIAL ................................................................................................. 74

FIGURE 48 –PUCKS™–MINIATURE BRUSHLESS MOTOR CONTROLLERS....................................... 74

WAM Arm – User’s Manual [email protected] www.barrett.com

List of Tables

TABLE 1–WAM COMMUNICATION SETTINGS ............................................................................... 22

TABLE 2–HAND COMMUNICATION AND POWER SETTINGS ........................................................... 22

TABLE 3–DC POWER REQUIREMENTS........................................................................................... 23

TABLE 4–4-DOF WAM FRAME PARAMETERS (WITH BLANK OUTER LINK INSTALLED) ................. 64

TABLE 5–7-DOF WAM FRAME PARAMETERS............................................................................... 64

TABLE 6–JOINT LIMITS ................................................................................................................. 65

TABLE 7–4-DOF WAM +GIMBALS DH PARAMETERS................................................................. 67

TABLE 8–ARM TRANSMISSION RATIOS ......................................................................................... 68

TABLE 9–MAXIMUM TORQUE (MT) MATO NM CONVERSION TABLE............................................ 75

List of Equations

EQUATION 1–D-H GENERALIZED TRANSFORM MATRIX ................................................................. 64

EQUATION 2–D-H MATRIX EXAMPLE ........................................................................................... 64

EQUATION 3–TOOL FRAME MATRIX .............................................................................................. 65

EQUATION 4–TOOL END TIP POSITION AND ORIENTATION EQUATION FOR THE 4-DOF WAM ....... 65

EQUATION 5–TOOL END TIP POSITION AND ORIENTATION EQUATION FOR THE 7-DOF WAM ....... 65

EQUATION 6–WAM MOTOR-TO-JOINT POSITION TRANSFORMATIONS .......................................... 68

EQUATION 7–WRIST MOTOR-TO-JOINT POSITION TRANSFORMATIONS.......................................... 68

EQUATION 8–ARM JOINT-TO-MOTOR POSITION TRANSFORMATIONS ............................................ 68

EQUATION 9–WRIST JOINT-TO-MOTOR POSITION TRANSFORMATION ........................................... 68

EQUATION 10 –ARM MOTOR-TO-JOINT TORQUE TRANSFORMATION.............................................. 69

EQUATION 11 –WRIST MOTOR-TO-JOINT TRANSFORMATIONS ....................................................... 69

EQUATION 12 –ARM JOINT-TO-MOTOR TORQUE TRANSFORMATIONS ............................................ 69

EQUATION 13 –WRIST JOINT-TO-MOTOR TORQUE TRANSFORMATIONS ......................................... 69

WAM Arm – User’s Manual [email protected] www.barrett.com

1 System Description

1.1 Standard WAM*System Components

1.1.1 System Features

Thank you for choosing the Whole Arm Manipulator (WAM). The WAM is designed to overcome

the lack of backdrivability in conventional robotic arms while maintaining durability, low power

usage, light moving weight, and ease of use. The standard WAM is a four degree-of-freedom (4-

DOF) arm. The optional WAM Wrist adds three more degrees of freedom – see Section 1.2.1. The

WAM has the dexterity and slenderness to easily navigate around obstacles placed in its path and

is endowed with smooth and precise joint motion, contributing to the WAM’s popularity in

robotics control research and emerging applications.

The compactness, low system weight, and extraordinarily low power consumption make the

WAM arm uniquely portable and so an ideal choice for use with mobile platforms. Its low mass

and the absence of a controller cabinet ensure that it is significantly easier to mount than robotic

arms of the same size. The WAM can also be powered directly from small batteries on a mobile

platform without power conditioning, accepting a wide range of voltages from batteries.

While no robotic arm should be considered “safe” and all precautions should be taken as each

application demands, the backdrivability and the multiple-layer safety system of the WAM make it

one of the safest robotic arms available. Because of its 95% backdrivable cable drives (in contrast

to poorly-backdrivable gear and harmonic-based drives), the WAM can react naturally and lightly

as it contacts walls and people. These attributes have contributed to the WAM’s success as one of

the first robotic arms in surgery and rehabilitation.

We hope that you enjoy the versatility and functionality of the WAM. Please never hesitate to give

feedback and to ask for advice as needed. US+617-252-9000, [email protected], or

http://www.barrett.com/.

1.1.2 Documentation

The WAM comes with six separate pieces of documentation:

1. User’s Manual (this manual)

2. Quick Start Guide

3. WAM Cable Maintenance Guide

4. Wrist Cable Maintenance Guide

5. Inertial Specifications Manual

6. Support Reference Sheet

1. The User’s Manual (this manual) covers:

•System components and options

•Safety instructions

•System setup and operation

•Troubleshooting

•Technical specifications

•Frequently asked questions

2. The Quick Start Guide is a single page guide that covers the essentials of operating the WAM

and some basic demonstrations for the WAM. This includes turning on and initializing the

WAM, home position, fault recovery, and the gravity compensation and teach-and-play

demos.

*“Whole Arm Manipulator” and “WAM” are trademarks of Barrett Technology® Inc.

WAM Arm – User’s Manual [email protected] www.barrett.com

3. The WAM Cable Maintenance Guide covers the cabling of joints 1 through 4 and the general

rules for handling cables, and should be used in the event that a cable in the 4-DOF WAM is

damaged or is coming loose.

4. The Wrist Cable Maintenance Guide covers the cabling of joints 5 and 6 and should be used

with the introductory sections in the WAM Cable Maintenance Guide in the event that a cable

in the Wrist is damaged

5. The Inertial Specifications Manual presents the inertial data for the WAM robotic arm (the 4-

DOF version and both 7-DOF versions) in support of computed-torque control techniques.

6. The Support Reference Sheet lists the variety of support options Barrett provides and assists

the customer in using the resource most likely to answer their question most effectively.

1.1.3 WAM Arm

The standard four-degree-of-freedom WAM Arm, shown in Figure 1, has four cable-driven joints

labeled J1 through J4, and four brushless DC motors labeled M1 through M4. M1 controls the yaw

(J1) of the WAM and is located in the base of the WAM. Using Barrett’s patented cable

differential, M2 and M3 together control the pitch (J2) and roll (J3) of the WAM, and are

contained in the shoulder of the WAM. M4 controls the bend of the “elbow” (J4), and is located

just above M2 in the shoulder. Using Barrett’s Puck technology, all motor encoders, power

amplifiers, and controllers are located in a single compact package adjacent to each motor,

eliminating the need for a controller cabinet and heavy electrical cables.

Figure 1 - WAM Arm

The standard WAM Arm comes with an internal computer and a blank outer link (shown attached

to the end of the elbow in Figure 1 and shown in full in Figure 2). However, several options (see

WAM Arm – User’s Manual [email protected] www.barrett.com

Section 1.2) such as an external computer and the WAM Wrist (Figure 11) are available to replace

these (though both standard options will still be included so that you may always switch between

configurations at any time).

Figure 2 - Blank Outer Link

The WAM’s internal computer has the following specifications:

Mainboard: PFM-540I

Processor Type: AMD Geode LX800 x86 @ ~500MHz

Memory: 256MB (4MB of that is used as a video framebuffer).

Hard drive: 2GB, CompactFlash

Kernel: Linux 2.6.16.57 patched with Xenomai 2.4-rc5

Distro: Slax 5.1.8

Expansion Card: PEAK-System PC/104 CAN Card, 2 ports

Wireless: Wi-Fi 802.11 b/g

Ethernet: 10/100 Base-T

1.1.4 Tool-End Attachments

The WAM™ comes with three endpoint (tool-end) attachments that can be used to change the

setup and shape of the WAM™ Arm: the Haptic Ball, the Tool Plate, and the CAN Termination.

These items in general will be attached to either the Outer Link (Figure 2) or WAM Wrist (Figure

11). Figure 3 shows the end plates of both the Wrist and Outer Link. The wires and connector

coming out of the centers are for running the optional Barrett Hand. If using the Outer Link

without the Barrett Hand, the wiring can simply be pushed inside the large open cavity. If using

the Wrist without the Barrett Hand, the wires should be coiled neatly in the small cavity and the

Wrist Plug installed to keep the wires from getting pinched.

Figure 3 - End Plates of Wrist and Outer Link

Wrist Plug

Wrist

Outer

Link

Rotate this

direction to

attach tool

Rotate this

direction to

remove tool

WAM Arm – User’s Manual [email protected] www.barrett.com

The Haptic Ball (see Figure 4) can be attached to the end of the Outer Link or the Wrist. It is used

to assist in haptic scenes by providing an easy-to-grasp, definable endpoint for the user. Systems

are generally shipped with the Haptic Ball pre-installed.

The Tool Plate (see Figure 5) can be installed on the end of the Outer Link, Wrist, or Elbow Plate

(if neither the Outer Link nor Wrist modules are installed). It provides a flat base that can be used

to attach parts other than the ones designed by Barrett. The Tool Plate has four M6 tapped holes,

evenly distributed in a circle, a 6-mm diameter dowel-pin hole, a quick-connect pin hole and slot,

and two holes to connect the CAN Termination (see Appendix B for Tool Plate hole labels and

dimensions).

The CAN Termination (see Figure 6) must be used if neither the Outer Link nor the Wrist is

attached at the end of the elbow. The CANbus must be terminated at each end with a 120 Ohm

resistor to minimize signal reflections. The termination can be attached to either the end plate of

the elbow or to the Tool Plate (if attached to the elbow) by the two small holes, which are the

same distance apart as the holes on the Termination.

Figure 4 – Haptic Ball

Figure 5 – Tool Plate

Figure 6 – CAN Termination

WAM Arm – User’s Manual [email protected] www.barrett.com

1.1.5 Power Supply

The WAM system generally requires an input voltage of 48 VDC. However, if you require an

alternate input voltage, contact Barrett Technology. The power requirements for both 4-DOF and

7-DOF WAMs are summarized in Section 3.6.1. Any DC power sources may be connected

directly to the WAM. Improper grounding can cause severe damage to the WAM electronics. If

you are concerned that your voltage source may damage the WAM electronics, do not hesitate to

contact Barrett for technical guidance.

The Power Supply that ships with the WAM, shown in Figure 7, can be plugged into any regular

AC power source. It provides up to 10A of direct current at 48V. This Power Supply switches

automatically to local voltage standards (100-120 & 200-240 VAC at 50-60Hz) around the globe

and contains built-in surge protection.

Figure 7 – Power Supply

1.1.6 Safety Pendants

The WAM Arm system comes with two safety pendants: a control pendant and a display pendant

(shown in Figure 8). Both pendants show the present safety status of the WAM Arm, with status

lights for the velocity, torque, voltage, and heartbeats of the robot. There is also a 7-segment LED

single-character display which shows additional information related to any existing errors. Each

pendant has a large mushroom-type emergency stop button, which can be reset (popped up) by

rotating the button clockwise for one quarter of a full turn. The control pendant has three

additional buttons: Shift, Reset/Idle, and Activate.

Figure 8 – Safety Pendants

Display Pendant

Control Pendant

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