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iCubGenova09 (iRonCub3) S/N:000 – Screw and cables check of the whole robot #1792

Closed gabrielenava closed 1 month ago

gabrielenava commented 2 months ago

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

We would like to check the status of the robot arms motors after the experiments of Friday.

Detailed context

During the experiments of Friday, the robot arms undergo a huge stress and I am worried about the status of the motors and of the transmission elements. In particular, I have tried to move the arms while position controlled and I saw that there is, qualitatively, a bit more backlash than before.

We would need that a person more expert than us checks the arms' motors status, screw the right screws (there are many and we don't know which screw to touch and how much they should be tighten) and verify that the transmission elements like the bearings are behaving normally.

cc @DanielePucci

Additional context

No response

How does it affect you?

It compromises safety of the experiments.

gabrielenava commented 2 months ago

based on the discussion with @Fabrizio69 and @AntonioConsilvio I have updated the title: in the end, they will perform a full check on the screws and cables of the robot. In particular, I want to underline that we had some issues with the ehternet connection of the head in the last experiment (occasionally, we were loosing connection), and might be related to the internal ethernet cable that goes from the head to the port. Would it be possible to check that cable in particular?

AntonioConsilvio commented 2 months ago

Hi @gabrielenava! I carried out a check of the tightening of the screws and the robot wiring. I focused more intensively on the upperbody.

I checked the Ethernet wiring and rewired some damaged cables.

I ask for feedback when you are able to test the robot! Thank you!

gabrielenava commented 2 months ago

thank you @AntonioConsilvio!

gabrielenava commented 2 months ago

I ask for feedback when you are able to test the robot! Thank you!

we turned on the robot and tested it with jets off. Everything seems working fine! But there was a problem at startup: the hip joints did not calibrate, even after restarting the robot multiple times. In the end, we calibrated them using the morotgui. We opened a dedicated issue for this problem: #iCubGenova0

the rest seems ok! thank you!

AntonioConsilvio commented 1 month ago

we turned on the robot and tested it with jets off. Everything seems working fine! But there was a problem at startup: the hip joints did not calibrate, even after restarting the robot multiple times. In the end, we calibrated them using the morotgui. We opened a dedicated issue for this problem: #iCubGenova0

Since you have created a dedicated issue, I will proceed with the closing of this issue! Thank you!