iCubGenova09 (iRonCub3) S/N:000 – Torso roll joint jumps at random times to random positions

[HosameldinMohamed]

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

The torso roll joint jumps to a random position during normal operation. The trigger of this is still unknown, it happened during the moving of the legs joints.

Detailed context

The video below shows one time when the problem occurred.

Additional context

The same video shows also #1679.

20231109_173554.mp4

How does it affect you?

It blocks iRonCub experiments.

CC @gabrielenava @DanielePucci

[github-actions]

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Hi @HosameldinMohamed 👋🏻

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• enter the Robot Name.
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[sgiraz]

After a quick internal discussion, it seems that there is a motor not functioning correctly (with a high probability it is faulted).

Today @GiacomoVassallo13 will fix the problem, maybe replacing the faulted motor (either left leg or torso).

cc @AntonioConsilvio

[GiacomoVassallo13]

Hi. The faulted motor was the hip roll of right leg not the waist.
The faulted motor has been replace wich a new one.
I attach the photo of the replaced stator:

The optical disc was also replaced as it was worn ,and the correct reading was verified with the bench test.

Unfortunately, I would like to point out that the assembly is missing some components: in particular the front edges of the sprockets and a piece of the belt tensioner.

This components will be added the as they become available.

The motor group was reassembled on the robot. @AntonioAzocar will take care of the electronic wiring of the new engine.

I attend the feedback.

cc: @Fabrizio69 @sgiraz @AntonioConsilvio

[gabrielenava]

to clarify: the issue that is tracking the hip roll problems is this one: #1652

while we opened this issue to understand why the torso roll sometimes jumps from one position to another, which is not correlated with the hip roll problem.

cc @sgiraz @Fabrizio69

[GiacomoVassallo13]

Thanks @gabrielenava

[AntonioAzocar]

Hi! I found the WE2 cable with the yellow wire broken and the crimp of the black damaged. So, I fixed it!

So, the problem should be solved

cc @gabrielenava @sgiraz

[sgiraz]

Hi @HosameldinMohamed,

let us know if the problem is solved, please.
If yes, we'll proceed with closing this issue.

[HosameldinMohamed]

We started the robot and torso roll joint behaving as expected. The issue did not appear again for the whole period of the test!

Thanks a lot guys!

[AntonioConsilvio]

Just for clarity, the cable found damaged and fixed by @AntonioAzocar was the cable that connects the optical encoder (LCORE5) with the 2FOC.

Since the robot has been tested, I will proceed with closing the issue, if the problem returns feel free to reopen this issue!

cc @sgiraz @HosameldinMohamed @gabrielenava