System instruction manual

5.1.1 Robot system introduction

System

  • Ubuntu is the most widely used linux operating system for personal desktop operating systems. For beginners, familiarity with the linux environment or some embedded hardware operating system is a good choice. The official ubuntu website has also released a dedicated operating system for the Raspberry PI.

  • Function introduction

    • myStudio：Support users to download/burn/update robot embedded firmware; embedded block visual programming application, convenient for users to control robots through visual programming; support fast motion control of single joint or single coordinate of robot; support fast control of robot IO input and output; support Real-time monitoring of robot status and other functions.

    • myPanel：myPanel is an application that controls the Mercury robotic arm by touching the cm4 of the robotic arm base. Its functions include coordinate control, angle control, drag teaching, etc.) to facilitate the operator to interact with the elephant robot

  • ROS1 Shell：Directly enter the compiled ROS1 environment, you can directly enter the corresponding instructions, run the corresponding ROS1 code

  • ROS2 Shell：Directly enter the compiled ROS2 environment, you can directly enter the corresponding instructions, run the corresponding ROS2 code

  • Github-ElephantRobotics：Elephant robotics official open source code repository

  • Home-ElephantRobotics：Elephant robotics website

  • UserManual - CN/EN：Robot use manual，contains everything about robot control

  • WiFi_ON/OFF：WiFi switch, click to turn on/off the WiFi function

  • HotSpot_ON/OFF：Hotspot switch, click to turn on/off the hotspot function, the hotspot name isElephantRobotics_A1_AP_XXXX

  • Language Support：System language setting, click to enter the system language setting interface

5.1.2 System password description

  • account password & VNC password & SSH password & root account password

    • Password：Elephant

  • How to change password

    • change account password

      • Use the shortcut key ctrl + alt + T to open the terminal
      • Enter passwd
      • Enter the new password twice

    • change vnc password

      • Use the shortcut key ctrl + alt + T to open the terminal
      • Enter vncpasswd
      • Enter the new password twice

    • change ssh password

      • For SSH remote connection, the password of the administrator account is entered. You do not need to change the password separately

    • change root account password

      • Use the shortcut key ctrl + alt + T to open the terminal
      • Enter sudo passwd
      • Enter the new password twice

5.1.3 VNC

  • VNC Introduction

    • Is a remote control software, generally used to remotely solve computer problems or software debugging

  • VNC Port

    • When the robot arm and PC are connected to the same WiFi, the IP address of the robot arm is the port

  • Connect VNC

    • There are two wireless connection modes. The first mode requires an external monitor to do some operations on the system. The specific steps are as follows:： Click “Disconnect”，disconnect the default hotspot connection

      Click "Enable Wi-Fi" , and the currently available WiFi will appear

      Click on the WiFi you need to connect to, enter the password

      After connect successfully，click "Connection Information" to check IP address of the robot

      As shown in the example，“192.168.10.64” is the current IP address of the robot

      Connect your PC and the robot to the same WiFi，open the VNC viewer，enter the IP address（examples : input 192.168.10.64），enter the password Elephant，The user name is not specified by default.

    • The second method doesn't need to connect the monitor, directly connect the Ubuntu system hotspot with a PC for remote control, but this connection method does not have the function of Internet surfing, and can only remotely control the robot arm system. The specific steps are as follows:

      Connect tp the hotspot ElephantRobotics_A1_AP_XXXX，enter the password Elephant

      Open VNC viewer，input IP address 10.42.0.1 ，enter，and then enter the password Elephant，The user name is not specified by default. The following is an example of a successful connection：

  • How can I improve connection fluency

    • The fluency of the remote connection depends on the fluency of the connected WiFi. It is recommended to connect to a stable WiFi for remote control

5.1.4 SSH

  • SSH Introduction

    • SSH is a network protocol used for encrypted logins between computers. If a user logs in from a local computer to another remote computer using SSH, we can assume that this login is secure, even if it is intercepted in the middle, the password will not be disclosed.

  • SSH Port

    • The default port number is 22

  • SSH Connect

    • Confirm the IP address of the robot by following instructions in 5.1.2 VNC

    • Click win + R and enter cmd

    • After input, click OK to open the shell interface

    • Enter ssh er@IP address ，then press Enter (the IP address is mainly displayed by the robot arm, the figure is only an example)

    • Enter password Elephant

    • As shown in the above figure, the robot arm has been successfully connected by ssh

  • How can I improve connection fluency

    • The fluency of the remote connection depends on the fluency of the connected WiFi. It is recommended to connect to a stable WiFi for remote controll

5.1.5 Network configuration

  • Default AP usage

    • Power on the robot，by default, the system will connect to the hotspot generated by the PI itself, the hotspot name isElephantRobotics_A1_AP_XXXX，current IP address10.42.0.1，this hot spot does not have the function of web surfing, and the transmission rate and information is limited, so there will be some distortion and color difference in the final imaging, and there will be a delay in communication transmission, which is a normal phenomenon

  • Connect to WLAN

    Click "Disconnect" to turn off default hotspot

    Click "Enable Wi-Fi" ， wait for the currently available WiFi to be displayed

    Click the WiFi you want to connect to and enter the WiFi password

    After connect successfully，click "Connection Information" to check IP address

    As shown in the example，“192.168.10.64”, It is the current IP address of the robot

    Wired network connection

    Power on the robot, it is connected to the hotspot configured by the system by default:

    ElephantRobotics_A1_AP_XXXX

    Click “Disconnect”，disconnect from the default hotspot

How to set default IP address

Use shortcut keys ctrl + alt + T to open the terminal，entersudo vim /etc/netplan/01-network-manager-all.yaml，modify 01-network-manager-all.yaml file as follows:

After modification，entersudo netplan applyto make the configuration take effect

How to assign IP addresses automatically

When the system is connected to WiFi, the IP address is automatically assigned, If you want to change the fixed IP address to automatically assign an IP address, modify /etc/netplan/01-network-manager-all.yaml file as follows:

After modification，entersudo netplan applyto make the configuration take effect

5.1.6 BT configuration

  • The Bluetooth of the system is turned on by default. Use the PC/Phone directly , and you can search the robot's BT. The default name of the BT is MyCobot-Pi

    Transfers files from PC/Phone to the robot system

    • Select the file you want to transfer

    • Operate in the robot system and click Accept to receive file

    • Wait for the BT transfer to complete

    • Can check received files in /home/er/Downloads folder

  • Transfers files from the robot system to PC/Phone

    • Click BT icon，select Send Files to Device

    • Choose PC/Phone

    • On PC/ mobile phone, allow the device to receive files

5.1.7 Language configuration

How to change language

Click Language Support，drag the language you want to the top and restart the system

How to download language

Click Language Support，choose language，click to download，enter password Elephant

5.1.8 System resolution switch

Click the icon in the upper right corner of the screen and select System Settings to enter the control panel

Choose Display

Toggle the selected resolution and click Apply to check and click Keep this Configuration to save the configuration

5.1.9 python

  • Python introduction

    Built-in installation Python3.8, no need to install it yourself

    Installed libraries：

Package Version
pymycobot 3.1.5
pyserial 3.5
numpy 1.23.5
opencv-contrib-python 4.7.0.72
rospkg 1.4.0
rospkg-modules 1.4.0

  • Try to program

    If you are new to the python programming language, you can follow the following video to program

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