MMP Husky FRA
Table of Contents
Getting Started
To start-up the Husky, the instructional video playlist can be used which details the opening and use of the Husky.
Platform Overview
The Husky Franka project is equipped with a state-of-the-art configuration tailored to meet its diverse operational requirements. At its core, it features the Clearpath Husky (IP44) platform, powered by a custom PC, ensuring efficient data processing and ample storage capabilities.
The robotic arm utilized in the system is the Franka Emika Research 3 , controlled via the Franka Emika DC Control Box, offering precise manipulation and versatility in performing various tasks. Additionally, the system integrates the Franka Emika 2-Finger-Gripper, which provides dexterous and reliable object handling.
This advanced setup ensures robust performance across a wide range of tasks, making the Husky Franka a versatile and powerful platform for modern robotic applications.
Data Sheets
Documentations
Quick-Start
Powering on the Husky
Power Button |
Emergency Switch Release |
Charging Port |
Ensure the emergency button is released as well as the key is turned to the unlock position.
◦ To check if the emergency switch is released, twist the switch in the indicated direction on it. If it pops up, then the switch has successfully been released.
◦ If the robot light is yellow, it means that either the emergency switch is not released or the key is not turned.
Press the power button on the front of the Husky. It has the power symbol as displayed.
Charging the Husky
LED Voltage Indicators
The power port can be used to charge the Husky. The indicator shows the voltage levels of the Husky and does not necessarily indicate the remaining power available.
Caution
Please read the instruction manuals pertaining to Clearpath Husky and Ufactory xAr6 before operating the robot.
Always be vigilant and remain close to the emergency stop buttons when the robot is in operation.
Known Issues
Husky moving forward on startup
This may occur due to time synchronization of the internet causing the robot’s joint states to reverse. This is dependent on how the network is synchronized between the Husky’s computer and the internet.
By default we have disabled synchronization of time from the internet to prevent this issue, until Clearpath updates its drivers.
Frequently Asked Questions
Logitech controller not working
Ensure that it is powered on.
Ensure that the input mode is X, which is set on the backside of the controller.
Husky in standby mode (yellow color)
Ensure that the emergency switch is twisted and released.
Ensure that the key is in the unlock position.
xArm6 does not move with Moveit2.
The solution to this to simply restart the driver.
Unable to see some of the ros2 topic lists in remote PC.
Ensure you are in the same network.
Ensure that your ROS DOMAIN ID is 0.
Ensure that your ROS LOCAL HOST is set to 0.
Ensure that your network system (+router) allows for ROS2 communication and/or is configured.
Restart the robot services:
◦ sudo service clearpath-robot restart
◦ sudo service hsky restart
Robotic Manipulator Safety Guidelines
When deploying robotic manipulators, it is imperative to prioritize safety procedures to mitigate risks and ensure secure operations. The following guidelines delineate key safety measures when working with robotic manipulators:
Work Area Safety
Maintain a clean and well-organized work area. Cluttered or inadequately lit spaces can impede the proper functioning of sensors and hinder precise manipulation.
Avoid operating robotic manipulators in hazardous environments, such as those containing corrosive substances, extreme temperatures, or sharp objects that may damage the manipulator.
Ensure that only authorized personnel are present in the vicinity during manipulator operation to prevent interference and ensure a safe working environment.
Electrical Safety
Ensure the manipulator’s power system adheres to electrical safety standards. Regularly inspect and maintain power components to prevent malfunctions.
Implement safeguards to protect the manipulator from adverse environmental conditions, such as exposure to moisture or extreme temperatures.
Regularly inspect power cables and connections, promptly replacing damaged components to minimize the risk of electrical issues.
Manipulation Safety
Implement collision detection systems to prevent unintended contact with objects, humans, or other equipment during manipulation tasks.
Define and enforce safety zones around the manipulator’s workspace to minimize the risk of unintended interactions with personnel or other objects.
Regularly calibrate and test the manipulator’s sensors and systems to ensure precise and reliable performance during manipulation tasks.
Emergency Response
Install an emergency stop mechanism to swiftly halt manipulator operation in unforeseen circumstances or emergencies.
Clearly mark and communicate emergency stop locations within the manipulator’s operational area.
Conduct regular emergency response drills to ensure personnel are familiar with procedures for handling unexpected situations during manipulator operation.
Data Security and Privacy
Implement robust cybersecurity measures to safeguard the manipulator’s control systems and data from unauthorized access or manipulation.
Ensure compliance with privacy regulations when collecting, storing, or transmitting data captured by the manipulator’s sensors.
Human Interaction Safety
Integrate sensors and communication systems to detect and respond to the presence of humans in the manipulator’s vicinity.
Clearly communicate the manipulator’s operational status and intentions using visual and audible signals to alert nearby individuals.
Establish protocols for safe human-robot collaboration, particularly in shared workspaces where manipulators are in operation.
Residual Risks
Despite the implementation of safety measures, certain residual risks may persist. These include:
Impairment of sensor functionality.
Risk of collisions during complex manipulation tasks.
Cybersecurity vulnerabilities.
Unintended human interactions due to unforeseen circumstances.
Robotic manipulators are sophisticated technologies that demand correct usage to avoid accidents and ensure a secure environment. Please adhere to proper procedures diligently, prioritizing both precision and safety.
Autonomous Mobile Robot Safety Guidelines
When deploying autonomous mobile robots, prioritizing safety procedures is essential to prevent accidents and ensure secure operations. The following guidelines outline key safety measures when working with an autonomous mobile robot:
Work Area Safety
Maintain a clean and well-lit work area. Cluttered or poorly illuminated spaces can impede the proper functioning of sensors and navigation systems.
Avoid operating autonomous mobile robots in explosive atmospheres, such as areas with flammable liquids, gases, or dust. The robot’s components may pose a risk in such environments.
Keep bystanders and unauthorized personnel at a safe distance during robot operation to prevent interference with autonomous navigation.
Electrical Safety
Ensure the robot’s power system adheres to electrical safety standards. Regularly inspect and maintain power components to prevent malfunctions.
Implement mechanisms to protect the robot from adverse weather conditions, such as rain or wet environments.
Regularly inspect power cables and connections and replace damaged components promptly to minimize the risk of electrical issues.
Emergency Response
Install an emergency stop mechanism to quickly halt the robot’s operation in case of unforeseen circumstances or emergencies.
Clearly mark and communicate emergency stop locations throughout the robot’s operational area.
Conduct regular emergency response drills to ensure personnel are familiar with procedures for handling unexpected situations.
Data Security and Privacy
Implement robust cybersecurity measures to protect the robot’s control systems and data from unauthorized access or manipulation.
Ensure compliance with privacy regulations when collecting, storing, or transmitting data captured by the robot’s sensors.
Human Interaction Safety
Integrate sensors and communication systems to detect and respond to the presence of humans in the robot’s vicinity.
Clearly communicate the robot’s operational status and intentions using visual and audible signals to alert nearby individuals.
Establish protocols for safe human-robot collaboration, especially in shared workspaces.
Residual Risks
Despite the implementation of safety measures, certain residual risks may persist. These include:
Impairment of sensor functionality.
Risk of collisions in crowded or dynamic environments.
Cybersecurity vulnerabilities.
Unintended human interactions due to unforeseen circumstances.
Autonomous Mobile Robots (AMR) are advanced technologies that require correct usage to avoid accidents and ensure a secure environment. Learn and follow the proper procedures diligently; prioritize both quality and safety.