ロボットメモ

### Quaternion クオータニオン
メモ
https://qiita.com/carpenders/items/ea7c2adc2bf1abd8e84c
### HAPTION Virtuose
メモ
https://qiita.com/carpenders/items/e6084d4b5b7729a49d05
### BECKOFF TwinCAT
メモ
https://qiita.com/carpenders/items/22702d9a274757c2c3ea
### COBOTTA TwinCAT 連携
メモ
https://qiita.com/carpenders/items/70cc86d95f365893a622
### COBOTTA 座標系
リンク
https://www.fa-manuals.denso-wave.com/jp/COBOTTA%20PRO/016631/

### COBOTTA 制御ログ
#### ログ記録
[F2 アーム] - [F3 サーボ状態] - [制御ログ タブ]
[F2 記録開始]と[F3 記録停止]で記録する。
ログの取得が開始されると、制御ログタブおよびサーボログタブのアイコンの上にRECが点灯します。
#### ログファイル取得
リポジトリ franka_test2
Manual \ TwinCAT3_PLC環境構築 \ 30WINCAPSでデータ取得.txt 参照
Manual \ TwinCAT3_PLC環境構築 \ 40WINCAPSで制御ログ取得.txt 参照
#### リンク
https://www.fa-manuals.denso-wave.com/jp/COBOTTA%20PRO/017440/ 制御ログの取得・表示・保存
https://www.fa-manuals.denso-wave.com/jp/COBOTTA%20PRO/017441/ 制御ログ設定の表示と変更
https://www.fa-manuals.denso-wave.com/jp/COBOTTA%20PRO/017218/ 「ファイル」メニュー
### MoveIt
C++用ユーザライブラリ（MoveGroupInterface）の仕様
https://robo-marc.github.io/moveit_documents/move_group_interface.html
setJointValueTarget(),move()使用
https://qiita.com/kazuki21057/items/ddd43e271909b02537ad
setPoseTarget(),move()使用
https://qiita.com/srs/items/5501a5d5059e4596f8f0
MoveGroupInterface Class Reference
http://docs.ros.org/en/melodic/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1MoveGroupInterface.html
MoveIt実装調査
https://qiita.com/carpenders/items/5e8d3ea07527e0a0b517

### franka
#### franka_ros
The **franka_ros** metapackage integrates **libfranka** into ROS and ROS control.
https://frankaemika.github.io/docs/franka_ros.html
franka_control_node -> franka_hw -> libfranka -> ネットワーク通信という階層構造
#### franka_hw
This package contains the hardware abstraction of the robot for the ROS control framework based on the **libfranka** API.
franka_hw実装調査
https://qiita.com/carpenders/items/a20c530b932fd119e619
#### franka_control
The ROS nodes **franka_control_node** and **franka_combined_control_node** are hardware nodes for ROS control that use according hardware classes from **franka_hw**. They provide a variety of ROS services to expose the full **libfranka** API in the ROS ecosystem.

### Gazebo
https://kuwamai.hatenablog.com/entry/2018/07/11/212318
https://qiita.com/Karin-Sugi/items/4918168649a8fb9b35d3

### 連載物
ROS入門 npaka @note.com
https://note.com/npaka/n/n26a3364b5136
ROS Industrial (Kinetic) 演習トレーニング
https://industrial-training-jp.readthedocs.io/ja/latest/index.html
ROS講座 @srs @quiita
https://qiita.com/srs/items/5f44440afea0eb616b4a

### デンソーウェーブ
TwinCAT連携以外の内容
https://www.denso-wave.com/ja/robot/
#### ORiN2
WINCAPSのインストールで以下のフォルダが作られる
b-CAPドキュメント
C:\ORiN2\CAP\b-CAP\CapLib\DENSO\RC9\Doc
ORiN2ドキュメント
C:\ORiN2\CAO\ProviderLib\DENSO\RC9\Doc
サンプルプログラム
C:\ORiN2\CAO\ProviderLib\DENSO\RC8\Samples\Robot\VC6
#### bCAP
https://www.denso-wave.com/ja/robot/product/function/b-CAP.html
https://github.com/DENSORobot/orin_bcap
#### cobotta_driver_for_linux
denso_cobotta-melodic-1.2.1-20210118.tar.bz2(354KB)	Melodic Morenia
https://www.denso-wave.com/ja/robot/download/application/cobotta_driver_for_linux.html
会員登録して奥を閲覧
#### denso_cobotta_ros
cobotta固有のサービスの記載だけなのか
http://wiki.ros.org/denso_cobotta_ros
- Overview
denso_cobotta_lib denso_cobotta_driver denso_cobotta_control denso_cobotta_gripper denso_cobotta_bringup denso_cobotta_descriptions denso_cobotta_moveit_config
- ROS API
set_motor_state get_motor_state set_brake_state get_brake_state clear_error clear_robot_error clear_safe_state set_LED_state
#### denso_cobotta_ros github
ROSのCOBOTTA依存実装
https://github.com/DENSORobot/denso_cobotta_ros
denso_cobotta_bringup denso_cobotta_control denso_cobotta_descriptions denso_cobotta_driver denso_cobotta_gazebo denso_cobotta_gripper denso_cobotta_lib denso_cobotta_moveit_config denso_cobotta_ros scripts
denso_cobotta_ros実装調査
https://qiita.com/carpenders/items/fc5bbb169c3dda5845ba
#### denso_cobotta_ros github.io
githubのマニュアル
https://densorobot.github.io/docs/denso_cobotta_ros/
Getting started, Quickstart on MoveIt!, Command Reference
### Getting started
```
# 準備
# Ubuntu-18.04 desktop
# ROS Melodic
# COBOTTA driver for Linux
$ sudo apt install ros-melodic-moveit \
                   ros-melodic-controller-manager \
                   ros-melodic-position-controllers \
                   ros-melodic-joint-state-controller \
                   ros-melodic-joint-trajectory-controller \
                   ros-melodic-joint-limits-interface \
                   ros-melodic-transmission-interface

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone -b melodic-devel https://github.com/DENSORobot/denso_cobotta_ros.git

$ cd ~/catkin_ws
$ source /opt/ros/melodic/setup.bash
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash
```
#### Quickstart on MoveIt!
Preparation
Start RViz and MoveGroup node
Run the sample script
#### Command Reference
- rosservice
Motor Brake LED Error CALSET
- rostopic
Button, MiniIO, Robot state, Safety MCU state, Parallel gripper, Vacuum gripper


### その他
https://www.jstage.jst.go.jp/article/jrsj/35/4/35_35_284/_pdf 中の人のROSインターフェース
https://www.kdel.org/wp/
https://www.kdel.org/wp/?cat=20 カテゴリ：コボタ
https://www.rt-shop.jp/blog/archives/12391 コボタのコンサル
https://www.kdel.org/wp/?p=2293 cobottaのrosのメモ
https://asukiaaa.blogspot.com/2018/06/raspberry-pi-raspbianstretchrosmelodic.html ros raspi
https://www.vstone.co.jp/products/scara_robot/download/VSASR_ROS_Manual.pdf vstone
https://robot.isc.chubu.ac.jp/ 中部大学
https://www.coppeliarobotics.com/

### 通信複線化

https://qiita.com/carpenders/items/2437e7402af179dc10b5