iCubGenova03 S/N:020 – Broken Cable for the forearm skin & Problems with the motor during the index extension

[MissingSignal]

Robot Name 🤖

iCubGenova03 S/N:020

Request/Failure description

1. The cable that connects the left forearm skin is broken. (see photo)
2. The left index motor has a problem in extension. Apparently it stops turning once a certain degree of extension is reached. (see video)

Detailed context

The forearm skin cable should be easy to fix.
It remains to investigate the functioning of the motor of the left index finger, which stops turning once a certain degree of extension is reached.

@GiacomoVassallo13 and @AntonioConsilvio are already aware of these two problems (see #1563).

Additional context

RPReplay_Final1699347720.mov

How does it affect you?

No response

[AntonioConsilvio]

cc @Matilde-Antonj

[AntonioConsilvio]

Hi @MissingSignal, @GiacomoVassallo13 and I fixed the skin cable and tried to fix the index finger problem by replacing the distal tendon (and also the sheath), but unfortunately the problem persists.

During the intervention, we noticed that the distal tendon of the thumb on the left hand was broken, so we replaced that as well.

Also during intervention, the N. 7 tendon of the left shoulder was torn at the crimp, so we replaced that as well.

Then, during the first robot start-up, the ring and pinky tendons were broken, so we replaced those as well.

Unfortunately, the problem on the index finger persists, but we may have another idea to solve this problem, you will receive instructions soon.

cc @sgiraz @Matilde-Antonj

[sgiraz]

Just for cross reference, the same behavior is happening in:

• iCubErzelli02 S/N:036 – [Right hand calibration issue] #1682

cc @AntonioConsilvio

[AntonioConsilvio]

Hi @MissingSignal, during the last intervention, I tried to increase the max value for the motor rotation, but unfortunately it didn't solve the problem.

config files

<!--USE THIS FOR CAN ROBOT CALIBRATION-->
<group name="CALIBRATION">
<param name="calibrationType">                    3        4        4        4        4        4        4        4        </param>
<param name="calibration1">                       1849.8    255.0    57.0    255.0    111.0    243.0    51.0     748.0    </param>
<param name="calibration2">                       10.0     10.0     30.0     10.0     10.0     10.0     10.0     10.0     </param>
-<param name="calibration3">                       0.0      6000.0   -6600.0  6000.0   7000.0   6000.0   -7000.0  -14000.0 </param>
+<param name="calibration3">                       0.0      6000.0   -6600.0  6000.0   10000.0   6000.0   -7000.0  -14000.0 </param>
<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
<param name="startupPosition">                    45.0     0.0      0.0      0.0      0.0      0.0      0.0      0.0      </param>
<param name="startupVelocity">                    100.0    100.0    100.0    100.0    100.0    100.0    100.0    100.0    </param>
<param name="startupMaxPwm">                      0        0        0        0        0        0        0        0        </param>
<param name="startupPosThreshold">                1000     1000     1000     1000     1000     1000     1000     1000     </param>
</group>

We need further time to investigate on a possible solution to fix this problem.

cc @maggia80 @sgiraz

[github-actions]

This issue has been automatically marked as stale because it did not have recent activity. It will be closed if no further activity occurs.

[Matilde-Antonj]

Hi @AntonioConsilvio,

Do you have any updates?

Thank you very much!

cc @reafrancesco @MissingSignal

[sgiraz]

Do you have any updates?

Hi @Matilde-Antonj,

@AntonioConsilvio and I are going to plan the intervention in Erzelli next Tuesday (5th of March). We also intend to solve the problem mentioned in #1747.

cc @Fabrizio69

[Matilde-Antonj]

Perfect @sgiraz, thank you very much.
See you on Tuesday!

cc @AntonioConsilvio @Fabrizio69

[sgiraz]

/remind 4th March Maintenance activity scheduled for tomorrow (cc @AntonioConsilvio @Fabrizio69)

[octo-reminder]

⏰ Reminder
Monday, March 4, 2024 10:00 AM (GMT+01:00)

Maintenance activity scheduled for tomorrow (cc @AntonioConsilvio @Fabrizio69)

[octo-reminder]

🔔 @sgiraz

Maintenance activity scheduled for tomorrow (cc @AntonioConsilvio @Fabrizio69)

[sgiraz]

Hi @MissingSignal and @Matilde-Antonj,

As per today's intervention, I would consider this issue solved.

✅ @AntonioConsilvio and I replaced the left-hand distal tendon including the proper toflon_sheat and We inverted the sign of the PIDs for the left-index distal and tuned its calibration values using the excel file. These changes were necessary because of the flipped magnets mounted on the joint.

Important

Please, note that We applied the above changes on icub-head live USB (icub@pc104) under /usr/local/src/robot/robotology-superbuild/src/robots-configuration. These changes should be merged in https://github.com/robotology/robots-configuration/tree/master through a proper PR and applied to the build/install/ directory of the robotology-superbuild running the make command within the build folder.

Warning

The general calibration order of the robot's joints is not correct. In detail, it calibrated the hands before the arms. This is a strange behavior and we have to investigate further on it. For this specific problem, We'll give you support remotely asap, tracking the activity in #1747.

If you agree, I would close this issue.
Let me know.

[pattacini]

Relative PR:

• iCub Genova03 config update + index finger fix robots-configuration#625