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7. ActionBuilder

7.1 Introduction

ActionBuilder is the robot action programming software that uses various sensors of robot.

Layout

①

Menu Bar

New File : Create new action file.

Open : Load existed action file.

Save : Save action file.

Save As : Save action file with new name.

Config : Revise action file information.

Download : Download action file to RQ smart controller

②

PC COM Port

COM Port : Choose correct COM Port.

Baudrate : Display data communication speed.

OpenPort : Open COM Port connect PC with RQ HUNO.

ScanPort : Scan correct COM Port automatically.

Config : Revise action file information.

③

Action Information

Action Name : Display action file name.

Robot Platform : Display action file robot platform.

Total Statements : Display action file line numbers.

Содержание RQ-110

Страница 1: ......

Страница 2: ...k or fire Make sure that the power plug is inserted firmly into the outlet so that the power cord does not get loosed A loose connection may cause a fire Do not forcibly bend or pull the power cord or have it pressed under a heavy object It may cause an electric shock or fire Do not handle the power cord with wet hands It may cause an electric shock Do not connect multiple electric devices to one ...

Страница 3: ...nd joints away from children s reach When your kid swallowed any product part consult with a doctor immediately Use the product only in an indoor environment Do not disassemble repair and modify the product parts arbitrarily Do not connect or disconnect cables while the robot product is in operation It may cause a damage or failure to the product Make sure that only designated devices be connected...

Страница 4: ...uct failure When robot gets twisted by running wrong motions while programming turn the power off quickly to prevent excessive torque from being transmitted to the robot If your finger is put and pressed in between robot modules turn the power off quickly and remove force applied to robot to prevent any physical injury Do not operate near in baby or animal It may cause injury to the life or produc...

Страница 5: ...u assemble it by hand This happens when internal gears are stiff not a defective problem This kind of problem will be solved when robot took the basic posture after you power on smart controller Generally it takes about one hour to assemble it by using screw driver But this is the average assembly time so it can take longer or less depends on users working environment Robot will walk well in the f...

Страница 6: ...embly 35 2 8 Check Assembled Robot 49 3 Zero Position Adjustment 51 4 Download Cable UART driver Installation 53 5 Download Tool 55 5 1 Introduction 55 5 2 Download File 56 6 MotionBuilder 59 6 1 Introduction 59 6 2 Motion Programming 1 62 6 3 Change Motion Speed 68 6 4 Motion Programming 2 69 7 ActionBuilder 77 7 1 Introduction 77 7 2 Action Programming 1 Continuous Motions 79 7 3 Action Programm...

Страница 7: ...le can be shared via Internet World First File Sharing by Precise Motion Control Technology Joint Insert Style Assembly Easily connected between modules by using provided various Joint Elaborate Motion The angle of smart servo module can be adjusted freely therefore motion is smooth and natural Wheel Mode 360 Position Control Mode 0 332 Individual Controller RQ HUNO Smart Controller and Smart Serv...

Страница 8: ...n 3 Above in each number there are LED 1 LED 2 LED 3 Power Connector Function Manipulation Descriptions Power On Connect battery line to Power Connector and press Button P LED indicates STOP state STOP state means LED lights but is NOT blinking It sets the latest platform It sets Standard platform Non standard platform Zero position setting Platform Selection Press button 3 in order to set Standar...

Страница 9: ...ote controller then LED 2 Green Blue and Red light will be blinking three times Now IR remote controller is registered NOTE Unregistered remote controller can not control the smart controller Each smart controller can memorize 5 remote controller in maximum If you try to register 6th remote controller then 1st registered remote controller is deleted For the next remote controller registration you ...

Страница 10: ...s Button Motion Button Motion Button Melody 1 Run Motion 1 1 Run Action 1 1 Ten little Indians 2 Run Motion 2 2 Run Action 2 2 Greeting 3 Run Motion 3 3 Run Action 3 3 Twinkle twinkle Little star 4 Run Motion 4 4 Run Action 4 4 Head and shoulder knees and toes 5 Run Motion 5 5 Run Action 5 5 Fur Elise 6 Run Motion 6 6 Run Action 6 6 Minuet Mach 7 Run Motion 7 7 Run Action 7 7 Congratulation 8 Run ...

Страница 11: ...t Controller connection Smart controller has four port to connect for smart servo by using W cable You can connect any port regardless smart servo IDs NOTE Rear side of COM port is for connection with PC or Bluetooth chip ...

Страница 12: ...12 1 3 Rivet Tool Rivet Tool Usage ...

Страница 13: ...13 ...

Страница 14: ...14 ...

Страница 15: ...15 ...

Страница 16: ...16 2 RQ HUNO Assembly Guide 2 1 Check Part List Place all the parts as the below for RQ HUNO assembly ...

Страница 17: ...n advance before you assembly This prevents confusion of smart servo position when you connect joint frame with smart servo 1 Place all smart servos and other parts as the below 2 Connect smart servo with the other smart servo by using w Cable then also connect to smart controller at the end as the below ...

Страница 18: ...remote controller is registered See the page 8 IR remote controller registration Button P STOP button 4 Press button 1 in IR remote controller Button 1 Each smart servo set initial position after the above procedures Now disconnect all the w Cables from the smart servos and smart controller in order to assemble RQ HUNO robot from the RIGHT LEG ASSEMBLY ...

Страница 19: ...k as the below Foot Frame Smart Servo 4 ID 06 07 08 09 W Cable 1 Knee Frame 1 Front Horn 1 Joint Frame 2 U Frame 1 3s rivet 2 2s rivet 8 Screw P6 1 Bolt B12 1 Bolt B27 4 Bolt B35 5 NUT 10 Front horn chase mark should be in center position 12 o clock direction Be careful that smart servo initial position should not be rotated when you put screw into front ...

Страница 20: ...EP2 Insert 2s rivet to the Joint Frame to connect with Front Horn STEP3 Connect W Cable into smart servo ID09 first then connect foot frame by using Bolt and Nut Left Foot Frame and Right Foot Frame is same ...

Страница 21: ...21 STEP4 Connect W Cable that is already connected with ID09 with smart servo ID08 and ID07 STEP5 Connect ID09 and ID08 by using 3s rivet Rotate W Cable one time and fix it ...

Страница 22: ...22 STEP6 Use the Bolt B35 and Nut to connect ID08 and ID07 with Knee Frame STEP7 Twist cable 3 4 times between ID08 and ID07 and put into empty space ...

Страница 23: ...6 and U frame by using Bolt B27 and Nut Then use the 2s rivet to fix with Joint Frame STEP9 Connect ID07 with Joint Frame by using 3s rivet Rotate W cable two times and connect to ID06 NUT Be careful JOINT frame direction ...

Страница 24: ...ID04 by using screw P6 Foot Frame Smart Servo 4 ID 01 02 03 04 W Cable 1 Knee Frame 1 Front Horn 1 Joint Frame 2 U Frame 1 3s rivet 2 2s rivet 8 Screw P6 1 Bolt B12 1 Bolt B27 4 Bolt B35 5 NUT 10 Front horn chase mark should be in center position 12 o clock direction ...

Страница 25: ... Front Horn and Joint Frame by using 2s rivets Be careful with Joint Frame direction STEP3 Insert W Cable with ID04 then connect Foot Frame by using Bolt B12 B27 and Nut W Cable connection to ID04 NUT connect position ...

Страница 26: ...26 STEP4 Connect W Cable with ID03 and ID02 STEP5 Connect Joint Frame with ID03 by using 3s rivet Then rotate W Cable1 2 times and fix it ...

Страница 27: ...with Knee Frame by using Bolt B35 and Nut Then rotate the W Cable 3 4 times and put into empty space STEP7 Connect ID01 and U frame by using Bolt B27 Then use the 2s rivet to fix with Joint Frame NUT Be careful JOINT frame direction ...

Страница 28: ...28 STEP8 Connect ID02 and Joint Frame by using 3s rivet Then rotate W Cable two times and connect with ID01 ...

Страница 29: ...oⅹ2 ID14 ID15 U Frame x 2 Joint Frameⅹ1 3s rivetⅹ1 2s rivetⅹ12 Bolt B27 x 4 NUT x 4 STEP1 Make Hand part by using the two 3 6 L type Frame and 2s rivets as shown in the below Becareful with 3 6 L type Frame part direction because the both sides are not same ...

Страница 30: ...me by using Bolt B27 and Nut then connect with Hand part by using 2s rivets STEP3 Connect ID14 and U Frame by using Bolt B27 and Nut then connect with Joint Frame Be careful of Joint Frame direction when you connect with smart servo ...

Страница 31: ...31 STEP4 Connect Joint Frame that connected with ID14 and ID15 by using 3s rivet ...

Страница 32: ...ⅹ2 ID11 ID12 U Frame x 2 Joint Frameⅹ1 3s rivetⅹ1 2s rivetⅹ12 Bolt B27 x 4 NUT x 4 STEP1 Make Hand part by using the two 3 6 L type Frame and 2s rivets as shown in the below Becareful with 3 6 L type Frame part direction because the both sides are not same ...

Страница 33: ...me by using Bolt B27 and Nut then connect with Hand part by using 2s rivets STEP3 Connect ID11 and U Frame by using Bolt B27 and Nut then connect with Joint Frame Be careful of Joint Frame direction when you connect with smart servo ...

Страница 34: ...34 STEP4 Connect Joint Frame that connected with ID14 and ID15 by using 3s rivet ...

Страница 35: ...4 Joint Frameⅹ4 U Frameⅹ2 3 3 Frameⅹ1 3s rivetⅹ8 2s rivetⅹ20 double rivetⅹ10 IRⅹ1 Smart Controllerⅹ1 Li Poly Batteryⅹ1 Charging Board 1 Screw P6 ⅹ4 Bolt B6 ⅹ2 Bolt B27 ⅹ4 Bolt B30 ⅹ4 Nutⅹ10 STEP1 Connect Front Horn to ID05 by using screw P6 Front horn chase mark should be in center position 12 o clock direction ...

Страница 36: ...nect Front Horn and Joint Frame by using 2s rivet as the below STEP3 Connect Front Horn and Joint Frame with ID00 same as the ID05 connection Front horn chase mark should be in center position 12 o clock direction ...

Страница 37: ...37 STEP4 Connect ID00 and ID05 with Body Frame by using Bolt B27 and Nut Check the ID05 and ID00 connect position well as shown in the below ...

Страница 38: ...10 Check the Front Horn and ID00 mark position Smart servo mark position is 11 o clock while Front Horn mark position is 12 o clock as shown in the below STEP6 Connect Joint Frame with Front Horn by using 2s rivets as shown in the below ...

Страница 39: ...D13 Check the Front Horn and ID00 mark position Smart servo mark position is 1 o clock while Front Horn mark position is 12 o clock as shown in the below STEP8 Connect Joint Frame with Front Horn by using 2s rivets as shown in the below ...

Страница 40: ...40 STEP9 Connect U Frame with ID10 as shown in the below and connect with Body Frame by using Bolt B30 STEP10 Connect U Frame with ID13 as shown in the above and finish the RQ HUNO shoulder ...

Страница 41: ...41 STEP11 Assemble Head part Connect 3 3 frame with Body Frame by using Bolt B6 and Nut STEP12 Connect IR Infrared Sensor into 3 3 frame by using double rivets 3 3 frame ...

Страница 42: ...42 STEP13 Connect 3 6 L type frame onto chest part STEP14 Connect ID00 with ID01 and ID05 with ID06 by using 3s rivet respectively Then pull the Cable outside from inside as shown in the below ...

Страница 43: ...ID10 with ID11 and ID13 with ID14 by using 3s rivet respectively STEP16 Put the first connector of W Cable into ID12 and rotate W Cable 1 2 times then put the second connector of W Cable into ID 11 as shown in the below ...

Страница 44: ...f W Cable into ID 10 Put the fourth connector of W Cable Inside then connect with ID00 STEP18 Put the first connector of W Cable into ID15 and rotate W Cable 1 2 times then put the second connector of W Cable into ID 14 as shown in the below ...

Страница 45: ...Put the third connector of W Cable into ID13 and put the fourth connector of W Cable into ID05 STEP20 Arrange the W Cabe as shown in the below and pull out the W Cable from the bottom side of Body Frame to upside ...

Страница 46: ...46 STEP21 Insert four 3s rivets to Body frame to fix Smart Controller as shown in the below STEP22 Insert two double rivets to Body frame to fix Battery as shown in the below ...

Страница 47: ...47 STEP23 Put Battery to Body Frame as shown in the below STEP24 Connect W Cable and fix Smart Controller with Body Frame as shown in the below ...

Страница 48: ...48 STEP25 Connect battery connector then also connect power cable of charing board to the Smart Controller power connector as shown in the below STEP26 Assembly completed ...

Страница 49: ... how Robot works after assembly Firstly power on press button P in smart controller Then press stop button of IR remote controller towards IR remote controller receiver Then Robot will take the basic posture as shown in the below IR remote controller receiver ...

Страница 50: ...ention Posture Robot will take the Attention posture if you press button 1 in IR remote controller l Please check the assembly guide from the STEP1 again if robot posture is not the same as shown in the above ...

Страница 51: ...ustment RQ HUNO zero position adjustment i Prepare zero position tool ii Fix Front Horn with zero position tool by using 2s rivets iii Put FrontHorn into smart servo to be adjusted Stand line and FrontHorn mark should be matched as the below L mark zero position tool is to adjust robot left arm and left leg R mark zero position tool is to adjust robot right arm and right leg iv Make power off the ...

Страница 52: ...servo RQ HUNO Body Frame should be conform with the rear side of Foot after zero position Button 1 Button 2 Button 3 Every time you press button 1 smart servo is selected in order ID01 ID02 ID03 ID15 ID00 Smart servo moves counter clockwise direction Smart servo moves clockwise direction For example smart servo ID01 blue LED lighs when ID01 zero position adjustment is started ð Make sure that 01 a...

Страница 53: ...e driver in order to use robot programming software such as MotionBuilder ActionBuilder Diagnostic Tool and Firmware Upgrade Tool 1 Download USB Download Cable Driver from www RQWORLD com and click to start installation 2 Click I accept the terms of license agreement then click Next ...

Страница 54: ...54 3 Click Next and finish the installation as shown in the below ...

Страница 55: ...Users can designate the download positions in remote controller Layout description PC Port Connection Part COM Port Designate available COM port for connection of RoboBuilder BaudRate It shows data transferring speed OpenPort Open PC COM port in order to connect a RoboBuilder ScanPort Find available COM port and opens it automatically ...

Страница 56: ... it shows the folders and downloaded made motion files Click Delete All in order to delete the previous downloaded files in the list In order to insert into Download File List section select the file then click button Users can use Drag Drop function ...

Страница 57: ...formance time If registered files are more than one in the Download File List users can change the downloading sequence by clicking Up or Down button Users can do this function by using Keyboard Up button Key Down button Key Delete button Delete Key Connect RQ HUNO and Download UART Cable as shown in the below ...

Страница 58: ...ode and Firmware Version will be shown if connected properly And ClosePort button will be shown as well Click Download button in order to all files in the Download File List Then it starts downloading into RBC Box Following message box will shown after downloaded completely ...

Страница 59: ...on Except the first scene the start position of a scene is the destination position of its previous scene When a scene is executed the frame data is generated automatically according to the predefiend number of frames and delivered to each actuator modules Frame A frame is the smallest motion unit that constitutes a scene Each frame can be considered as the still image that is actually sent to rob...

Страница 60: ...60 Screen Layout This is the screen layout of the MotionBuilder ...

Страница 61: ...61 ...

Страница 62: ... Motion Programming 1 Let s try one simple motion programming for RQ HUNO 1 Run MotionBuilder and click New Input greeting in Project Name then select Robot Platform RQ HUNO 2 Click OK then it shows as below ...

Страница 63: ...ower on smart controller Button P 4 Click Scan Port to search correct COM Port or you can click Open Port if you know the COM Port No 5 Click New Motion Then input hi in Motion Name If you want to use smart servo LED check the Enable External Port then click OK ...

Страница 64: ...er to move up and shake the arm add the second scene For adding new scene you should select next empty scene before click New Scene Move the Jog Dial of ID10 Frames If you increase the Frames robot moves smoothly Motion Run Time Each frame run time range is 20 1000msec TIP It is recommended that first scene and last scene is for robot basic posture for stable motion movement Therefore do not revis...

Страница 65: ...65 9 Move the Jog Dial of ID11 10 For the next movement add the third scene 11 Move the Jog Dial of ID12 ...

Страница 66: ...et s make the arm shaking motion like saying Hi Copy the Scene 1 and Scene 2 13 Paste the Scene 1 and Scene 2 to the next empty scene space and do the paste again Lastly copy the Scene 0 and paste to the last scene ...

Страница 67: ...67 14 Save the Motion file Click select All and then click Test button 15 Completed Hi rbm motion movement is as follows ...

Страница 68: ...alue is 30 and time value is 1000 you can change the frames and time as you double click related scene 2 Minimum motion run time is 20msec for each frame Therefore time value should be at least 600 msec if frames are 30 Change the frame value first then input proper time value 3 Try to change the frame value to 15 and time value is 300msec then click Test as shown below 4 You can see that motion s...

Страница 69: ...69 6 4 Motion Programming 2 In this section we will make a deep bow HUNO motion 1 Click New Motion then input motion name as a deep_bow ...

Страница 70: ...70 2 Click New Scene to add new scene 3 Click Get Pose you can see Motor Enable window then check Check All ...

Страница 71: ...71 4 Then you can make the RQ HUNO posture by using your hand Not by Jog Dial as shown in the below 5 Then click Capture to complete the above scene ...

Страница 72: ...72 6 Click New Scene to add new scene 7 Click Get Pose you can see Motor Enable window then check Check All ...

Страница 73: ...73 8 Then you can make the RQ HUNO posture by using your hand Not by Jog Dial as shown in the below 9 Then click Capture to complete the above scene 10 Now Copy the Scene_1 to ready get up ...

Страница 74: ... Mouse right click then paste insert to the next empty scene space after Scene_2 12 Copy the Scene_0 to take a basic posture 13 Mouse right click then paste insert to the next empty scene space after Scene_1 ...

Страница 75: ...75 14 Now click Select All and then click Test 15 Click Save to save a deep_bow rbm file 16 deep_bow rbm motion is downloaded successfully ...

Страница 76: ...76 17 Click Close Port to control RQ HUNO by IR remote controller 18 Press button 1 of IR remote controller deep_bow rbm motion is played 19 Completed Hi rbm motion movement is as follows ...

Страница 77: ...e Config Revise action file information Download Download action file to RQ smart controller PC COM Port COM Port Choose correct COM Port Baudrate Display data communication speed OpenPort Open COM Port connect PC with RQ HUNO ScanPort Scan correct COM Port automatically Config Revise action file information Action Information Action Name Display action file name Robot Platform Display action file...

Страница 78: ...dd Add action statement from list Delete Delete action statement from list Update Update action statement from list CONDITIONS If None No condition Distance Distance condition unit cm 10 50cm Sound Sound condition 0 255 General clapping sound value is 10 15 Touch IR Input from button Remocon Input from IR Joystick remote controller Accel Input X Y Z acceleration value EXECUTIONS Then None No execu...

Страница 79: ...t Action Basic Posture Go Back Left Right 1 Click New to create new action file then input Action Name File Name and select RQ HUNO platform as the below 2 Connect RQ HUNO with PC by using Down Cable UART then power on smart controller 3 Click Open Port ...

Страница 80: ...80 4 Click as the below procedures 1 2 3 4 5 by number to add robot basic posture motion 5 Click as the below procedures 1 2 3 4 5 by number to add robot go motion ...

Страница 81: ...ow procedures 1 2 3 4 5 by number to add robot back motion 7 For Left and Right motion it is same procedures except Motion Play section 8 Click below procedures 1 2 3 to save action file and download to RO smart controller ...

Страница 82: ... 9 Press 1 of IR remote controller then robot moves Basic Posture Go forward Backwards Move Left Move Right 7 3 Action Programming 1 Using Sound Sensor Robot Action Ready If applause detected move forward ...

Страница 83: ...83 1 Click New to create new action file then input Action Name File Name and select RQ HUNO platform as the below 2 Click as the below procedures 1 2 3 4 5 to add basic posture motion ...

Страница 84: ...84 3 Click as the below procedures 1 2 3 4 5 to detect applause sound and add go forward motion 4 Click as the below procedures 1 2 3 4 5 to be in infinite loop state ...

Страница 85: ...85 5 Click below procedures 1 2 3 to save action file and download to RO smart controller 6 Press 2 of IR remote controller then clap near RQ smart controller ...

Страница 86: ...g mode automatically You can set the entry time as below 1 Power off the smart controller 2 Press button 3 and then press button P concurrently LED3 Green Blue and Red light up 3 You can adjust the power saving entry time as shown in the below 4 Press Button P to save current setting after selecting power saving entry time ...

Страница 87: ...87 8 2 How to change Smart Servo ID Number 1 Connect single smart servo cable as shown in the below 2 Make sure that Smart Controller power is OFF state ...

Страница 88: ...ED3 indicates current Smart Servo ID Yo You can change Smart Servo ID by pressing Button 1 or Button 3 Button 1 is to increase Smart Servo ID number Button 2 is to cancel Smart Servo ID changes Button 3 is to decrease Smart Servo ID number 4 Press Button P to save current Smart Servo ID after change ID number ...

Страница 89: ...89 8 3 How to charge ...

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Содержание RQ-110

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