wrong icub eyes tilt
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In reply to this post by Juxi Leitner
Hi Hackers,
as Juxi mentionned it, it could be a mechanical problem related to transmission belt (see below) which slipped on the wheel attached to the output of the motor actuating the tilt of the eyes.  To check if it is true, unmount the face cover, check if the belt is loose or consummed by ages: these are the only possibilities which could lead to slippering belt. The simplest one to solve is the loosing belt, for that just straighten the screw on the opposite side of the nose (see below picture)  until having a good and tensed belt. Afterwards just make a little head fine calibration http://eris.liralab.it/wiki/HeadFineCalibration the other one is less easy to treat because means that it needs to be changed and to make sure is used and replacing the part has to be done just run the tilt movement and verify the slippery of the belt during the movement. If it is the case just ask to your icub support @ icub.support@icub.iit.it for a replacement part |
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Hi RobotCub hackers,
I see that the tilt movement of the eyes is still an issue for you, so as you said, Leo said :"The last time we changed the head configuration files was several months ago (from last modified date), so I am pretty sure the cause is not a sudden change in configuration file" so i agree that if you dont change any parameters the robot should still behave the same. So taking in account the fact that nothing in the software part changed (ini file and other configuration file coming form update) it sounds like it is a electrical problem. I made an attempt to resolve the issue in my last post with the hypothesis that it was a mechanical problem because you experienced 1 single -10 degree slippery of the eye position, but now I will focus more specifically my answer by pointing out the fact that the cord of the tilt motor could be eaten or used at the bottom of the motor, along the cord or inside the header socket connecting it to the MC4. So as to enlighten this, I will ask you to remove the face cover and check visually the electrical cord of the motor, it's a 6 grey stripped wire flat cable (see example of cord from picture below)  and take a look at how it is (dont hesitate to disconnect the header connector from the MC4 board to have a entire view of the cable, of course do first this trial with the PC104 closed). If it isnt obvious for you to detect the used part, it means it may come from the header connector crimps which may got looses or uncrimped or worse coming form the inside of the motor  On this above picture, try, with a plier, to detect a failure in the crimps by pulling out the wires one after the other (the first 4 ones, by your own issue) and see if one of thoses wires get off its crimp. If yes just recrimp it and that's it. Let me know if it helps. |
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