Control of mobile robot Kobuki

Kobuki is a research mobile robot released from Yujin Robotics. Vacuum cleaner Robot is almost the same size as Roomba and can be controlled from a PC etc. via USB serial connection. It is equipped with IO, serial input/output, power supply connector, button, LED, etc. It is suitable for use as an experimental robot.

You can download the script that installs the software etc. necessary to operate the following Kobuki's sample from here.

 $ wget  http://svn.openrtm.org/Embedded/trunk/RaspberryPi/tools/rpi.sh
 $ chmod 755 rpi.sh
 $ sudo ./rpi.sh hostname --type kobuki

In the following explanation, the environment construction and Kobuki's sample are compiled automatically.

(G)Connection between Raspberry Pi and Kobuki

The figure below is the main panel of Kobuki.

Kobuki DC output connector

We use 5V 1A DC output connector for power supply to Raspberry Pi, USB connector for connection with Raspberry Pi.

(G)Power supply

Kobuki has a DC output connector capable of outputting 5V 1A and you can supply the power of Raspberry Pi from here.

5V 1A output connector with the following model number is used.

Kobuki 5V 1A connector
Housing Molex PN: 43645-0200
Terminal Molex PN: 43030-0001

Connector for Kobuki DC 5V 1A

You can also purchase it at RT robot shop etc.

We will supply power to Raspberry Pi by creating DC connector and USB conversion cable as shown below.

DC cable for Raspberry Pi

In recent years, many batteries with a USB output terminal for smartphones are on sale so these power supplies can also be used.

Battery for smartphone


Connect Kobuki and Raspberry Pi with the USB cable that came with Kobuki. From Raspberry Pi side it appears as /dev/ttyUSB0.

 $ ls /dev/ttyUSB*


Install Raspberry Pi in Kobuki and connect the power supply and USB. If you make Raspberry Pi wireless LAN connection, it becomes Kobuki which can be controlled wirelessly.

Kobuki 'with Raspberry Pi

Since there is a possibility of dropping during Kobuki operation, it is good to fix Raspberry Pi with a Velcro tape or the like.

(G)Compiling Kobuki AIST RT components

In the previous section we also tested the compilation of the RT component, but we will review it again here. First, check out the Kobuki AIST RT component from the following repository and build it.

  $ svn co http://svn.openrtm.org/components/trunk/mobile_robots/kobuki
  $ cd kobuki
  $ mkdir build
  $ cd build
  $ cmake -DCMAKE_INSTALL_PREFIX=/usr ..
  $ make
  $ cd src
  $ sudo make install

With this, Kobuki AIST RTC is built and the executable file
  • /usr/lib/openrtm-1.1/rtc/KobukiAISTComp It should be installed.

Try to start it up. Since access to the device file /dev/ttyUSB0 requires root privilege, it is running with sudo.

 $ rtm-naming
 $ sudo /usr/lib/openrtm-1.1/rtc/KobukiAISTComp

If you start RTSystemEditor and connect to Raspberry Pi's host name or IP address, you should see a component called KobukiAIST0. Please click to display the Configuration dialog.

Since it is designed to be able to operate LED1, LED2, etc, please click RED, GREEN etc. with the radio button. The LED will light up.

(G)Automatic activation of Kobuki AIST component

Kobuki AIST component is started automatically when Raspberry Pi is started. As a result, when you turn on the power to Kobuki, Raspberry Pi and Kobuki AIST components will start automatically and you will be able to operate Kobuki via RTC without having to login to Raspberry Pi every time.

Create the following script as /etc/kobuki.sh.

 $ sudo vi /etc/kobuki.sh

The contents of kobuki.sh are as follows.

 # KobukiAIST RTC launch script
 #       Copyright Noriaki Ando <n-ando@openrtm.org>
 #       2011.03.27
 # This script should be executed from rc script like a rc.local
 # as the following command line.
 sleep 5
 if test -d $workdir ; then
         echo ""
         mkdir \$workdir
 cd $workdir
 while :
     rm -f \$workdir/*.log
     sleep 5

Give execute privilege.

 $ sudo chmod 755 /etc/kobuki.sh

Furthermore, to start automatically, insert the following line before the last exit 0 of /etc/rc.local.

 /etc/kobuki.sh 2>&1 | perl -p -e 's/\n/\r\n/g' 1>&2 &
 exit 0

Now, when Raspberry Pi starts up, the Kobuki AIST component also starts up automatically. Even if Kobuki AIST component is terminated by exit, it starts again after 5 seconds. As long as Kobuki is powered on, the Kobuki AIST component will continue to stay resident.

(G)Operation of Kobuki component

(G)Operation by TkJoystick

TkJoystick is a component included as a sample in OpenRTM-aist-Python. However, the output is only the XY value of the joystick and the output for the wheel speed of the opposed two-wheeled mobile robot, and there is no output of the two-dimensional velocity vector (TimedVelocity2D).

Improve the TkJoyStick component, output 2-D velocity vector (TimedVelocity2D), connect with Kobuki and operate.

On Windows, the following directories are also installed. (x.y is version)

  • C:\Program Files (x86)\OpenRTM-aist\x.y\examples\Python\TkJoyStick
  • C:\Program Files\OpenRTM-aist\x.y\examples\Python\TkJoyStick


In TkJoystick.py, the left and right wheel speeds are calculated. Considering the kinematics of the mobile robot from here, the speed v and the angular velocity ω can be calculated. (For reference, I will make a link to Professor Kumagai of Tohoku Gakuin University.

TimedVelocity2D has the following data structure.

 struct Velocity2D
    double va; // angular velocity [rad/s]
    double vx; // translation speed (forward) [m/s]
    double vy; // translation speed (lateral direction) [m/s] 0 for the opposite two-wheel type
 struct TimedVelocity2D
   Time tm;
   Velocity2D data;

(G)Move autonomously

I will move Kobuki autonomously using a sensor. Kobuki is equipped with bumper sensor, proximity sensor (far/near), Cliff sensor. Here, like Roomba, when continuing to move forward, when detecting a wall, I try to move it with an algorithm that goes down a little, rotates and moves forward again. (Roomba moves a bit more wisely ...)

The sensor output of Kobuki AIST RTC is as follows. The IR sensor is for receiving signals from infrared from the dock and can not be used for obstacle detection. Therefore, only bumpers and cliff sensors can be used to detect obstacles and cliffs.

No. Enum Meaning
0 RIGHT_BUMPER Right bumper
1 CENTER_BUMPER Central bumper
2 LEFT_BUMPER Left bumper
3 RIGHT_WHEEL_DROP Right wheel release
4 LEFT_WHEEL_DROP Left wheel derailleur
5 RIGHT_CLIFF Right cliff sensor
6 CENTER_CLIFF Central cliff sensor
7 LEFT_CLIFF Left cliff sensor
8 RIGHT_IRFAR_RIGHT Right IR / dock right far
9 RIGHT_IRFAR_CENTER Right IR / dock Middle distance
10 RIGHT_IRFAR_LEFT Right IR / dock left
11 RIGHT_IRNEAR_RIGHT Right IR / dock right near
12 RIGHT_IRNEAR_CENTER Right IR / Dock Center Near
13 RIGHT_IRNEAR_LEFT Right IR / Dock Sightseeing
14 CENTER_IRFAR_RIGHT Central IR / dock far right
15 CENTER_IRFAR_CENTER Central IR / Dock Central Distance
16 CENTER_IRFAR_LEFT Central IR / dock left
17 CENTER_IRNEAR_RIGHT Central IR / dock right near
18 CENTER_IRNEAR_CENTER Central IR / Dock Center Near
19 CENTER_IRNEAR_LEFT Central IR / Dock Sight-seeing
20 LEFT_IRFAR_RIGHT Left IR / dock far right
21 LEFT_IRFAR_CENTER Left IR / Dock Middle distance
22 LEFT_IRFAR_LEFT Left IR / dock left
23 LEFT_IRNEAR_RIGHT Left IR / dock right near
24 LEFT_IRNEAR_CENTER Left IR / Dock Center Near
25 LEFT_IRNEAR_LEFT Left IR / Dock Sightseeing
26 KOBUKI_DOCKED Dock completed

To receive these outputs, one InPort of RTC::TimedBooleanSeq type is required. In addition, one OutPort of TimedVelocity 2D type for outputting the movement speed command to Kobuki is required.

Basic profile
Component name KobukiAutoMove
Module overview Kobuki auto move component
Version 1.0.0
Vendor name AIST
onInitialize, onFinalize, onActivated, onDeactivated, onExecute
Data port'
[in] bumper
Overview sensor information true: obstacle detection (bumper contact, wheel fall, cliff detection) false: no obstacle
Data type TimedBooleanSeq
Details Data [0]: right bumper, data [1]: central bumper, ... data [7]: left cliff sensor (see table above)
[out] targetVelocity
Overview Speed vector of mobile robot
Data type TimedVelocity 2D
Detail vx: translation speed, vy: 0.0, va: angular velocity
Unit vx [m/s], va [rad/s]

Using the above information as a clue, please create a simple component that will autonomously move Kobuki. If you are having trouble connecting components, please see Troubleshooting.


The speed command of Kobuki is TimedVelocity 2D type, which is also shown above, but has the following data structure.

 struct Velocity2D
   double va; // angular velocity [rad/s]
   double vx; // translation speed (forward) [m/s]
   double vy; // translation speed (lateral direction) [m/s] 0 for the opposite two-wheel type
 struct TimedVelocity2D
   Time tm;
   Velocity2D data;

In the opposed two-wheeled mobile robot, it is considered that vy is always 0.0, for example,

 va = 0.0; vx = 0.2; vy = 0.0;

If you go backwards,

 va = 0.0; vx = -0.2; vy = 0.0;

If it turns on the spot

 va = 0.0; vx = 0.0; vy = 1.0;

Coordinate system of mobile robot and TimedVelocity 2D

If there is data to InPort, read the data and retrieve the bumper information. Bumper information is stored in a member of an array called .data of the data type TimedBoolSeq, and it can be seen that it is the 0th, 1st, 2nd element in the above table. If any of these are true, it means that a bumper has detected a collision, so once it gets down, it turns. And I will move forward again. If these movements are set to TimedVelocity 2D members and written to OutPort, speed command data will be transmitted to Kobuki. The algorithm flow chart is shown below.


It is ideal to control how much it goes down and goes down or turns or turns, but it is also possible to use the sleep function for the sake of simplicity. You can use coil::sleep on Linux

 coil::sleep(coil::TimeValue(0.01); // Wait 10 ms

In Windows, coil::sleep has poor accuracy, so it is better to use the Sleep function. Based on these hints, please create a control component that makes Kobuki move autonomously


As an answer, the above TkJoyStick component and autonomous moving component are shown below.

Raspberry Pi + OpenRTM-aist Application example



Raspberry Pi is a single board computer equipped with an ARM processor developed by the Raspberry Py Foundation in the UK.

Regardless of the embedded board size, Raspberry Pi is very convenient because ordinary Linux (Debian, Fedora, Arch Linux) for ARM and FreeBSD operate and can self-compile on the board as well. Disk is now also inexpensive and can use large capacity SD card, the main unit price is also very inexpensive, around 3000 yen. Also, since basic IO is provided and it can be connected to various external devices, various applications such as robot control and sensor measurement can be considered.


The appearance of Raspberry Pi is shown below.

Raspberry Pi

Raspberry Pi has two types (Model A, Model B), each of which has the following specifications.

Model A Model B
Target price $25 $35
SoC Broadcom BCM 2835 (CPU, GPU, DSP, SDRAM)
CPU 700 MHz / ARM 1176 JZF-S core (ARM 11 family)
GPU Broadcom VideoCore IV, [14] OpenGL ES 2.0 (24 GFLOPS), 1080p 30 fps H.264 / MPEG-4 AVC high-profile decoder, MPEG-2, VC-1
Memory (SDRAM) 256 MB (GPU share) 512 MB (GPU share), shipment before October 14, 2012 is 256 MB
USB 2.0 port 1 2 (integrated USB hub)
Video output Composite RCA (PAL & NTSC), HDMI (rev1.3 & 1.4)
Audio output 3.5 mm jack, HDMI
Storage SD memory card / MMC / SDIO card slot
Network None 10/100 Mbps Ethernet (RJ45)
Low level peripheral device 8 × GPIO, UART, I 2 C, SPI and two chip select, +3.3 V, + 5 V, ground
Power supply 300 mA (1.5 W) 700 mA (3.5 W)
Power supply source 5 V / microUSB or GPIO
Size 85.60 mm x 53.98 mm (3.370 in x 2.125 in) [19]
OS Debian, Fedora, Arch Linux, FreeBSD

Overview of this Book

Using IO expansion platform PiRT-Unit developed by AIST makes it possible to use IO relatively easily.


Since OpenRTM-aist (C++, Python, Java) can also be compiled and executed on the board, it can be used almost the same as the development process on a regular Linux PC though it is an embedded board.

This section explains the environment building method for developing and executing RT components with OpenRTM-aist, know-how for convenient use, control of mobile robot, usage of IO, etc.

Application using Raspberry Pi and PiRT-Unit

Preparation of SD card


This section explains installation of the execution environment for running RTC for Raspberry Pi (hereinafter referred to as RPI RTC).

The following installation procedure assumes Windows environment. If you are using a non-Windows environment please refer to the following site etc.

Here, we download the OS image from the Raspberry Pi official site and explain about various setups. The rough procedure to make OpenRTM available on Raspberry Pi is as follows.

  • Write the OS image to the SD card
  • Basic Setup of the OS
  • Installing OpenRTM-aist
  • Component execution test

In addition, since OpenRTM - aist installation and image where Kobuki component has already been installed are prepared here, the following procedure can be skipped.

(G)Capacity of SD card

The SD card you need is at least 2GB, but 4GB or more is required for actual use. Be sure to prepare an SD card of 4GB or more.

(G)Image download

Download OS Raspbian "wheezy" for Raspberry Pi from the following site. Raspbian is a Debian-based Linux distribution for RaspberryPi.

Please unzip the downloaded file YYYY-MM-DD-wheezy-raspbian.zip. YYYY-MM-DD-wheezy-raspbian.img file of 2GB size should be expanded.

 $ ls -al 
 total 4752840
 drwxr-xr-x  4 n-ando  staff         136  5 18 13:30 .
 drwxr-xr-x  9 n-ando  staff         306  5 18 13:30 ..
 -rw-r--r--  1 n-ando  staff  1939865600  2  9 12:44 2013-02-09-wheezy-raspbian.img
 -rwxr-xr-x  1 n-ando  staff   493587826  5  7 21:08 2013-02-09-wheezy-raspbian.zip

If it can not be deployed successfully, the download may fail and the file may be broken. Please delete the corrupted file and try downloading again.

(G)Write image

The expanded yyyy-mm-dd-hweezy-raspbian.img is called an image file, and the state of the disk started by Raspbian is extracted byte by byte from the beginning to the end of the disk. You can not use this file simply by copying it to SD card! !

Please write it to the SD card as described below.

(G)Writing images (Windows)

In Windows, you can write images by using the tool called Win32 DiskImager. Download the image data writing tool Win32DiskImager binary from the following site.

Extract the downloaded file (win32diskimager-vX.X-binary.zip).

* Because Win32 DiskImager does not support double-byte characters, YYYY-MM-DD-wheezy-raspbian.zip decompresses to halfway pathname where double-byte characters and spaces are not included Please give me.

Insert the SD card used by Raspberry Pi into the PC and start Win32 DiskImager.

* Since SD card needs to be recognized as a drive, format it in FAT32 format beforehand

Specify the drive of the SD card in Raspbian image file (YYYY-MM-DD-wheezy-raspbian.img), "Drive" which decompressed to "Image File" and click "Write" button.

Write image data

The preparation of the SD card is now complete. When writing is completed, install the SD card in the Raspberry Pi and turn on the power.

(G)Writing images (Linux)

On Linux, you can read and write images using the dd command. The dd command is installed by default on most UNIX based operating systems.

After inserting the SD card, check the kernel message with the dmesg command.

 $ dmesg
   : Omission
 [333478.822170] sd 3:0:0:0: [sdb] Assuming drive cache: write through
 [333478.822174]  sdb: sdb1 sdb2
 [333478.839563] sd 3:0:0:0: [sdb] Assuming drive cache: write through
 [333478.839567] sd 3:0:0:0: [sdb] Attached SCSI removable disk
 [333479.094873] EXT4-fs (sdb2): mounted filesystem with ordered data mode
 [333527.658195] usb 1-1: USB disconnect, address 2

From this message, check the device name of the SD card. In this example sdb seems to be the device name of the SD card. Let's look under/dev/.

 ls -al /dev/sd*
 brw-rw---- 1 root disk 8,  0 May  7 17:28 /dev/sda
 brw-rw---- 1 root disk 8,  1 May  7 17:28 /dev/sda1
 brw-rw---- 1 root disk 8,  2 May  7 17:28 /dev/sda2
 brw-rw---- 1 root disk 8,  5 May  7 17:28 /dev/sda5
 brw-rw---- 1 root disk 8, 16 May 18 14:19 /dev/sdb
 brw-rw---- 1 root disk 8, 17 May 18 14:19 /dev/sdb1
 brw-rw---- 1 root disk 8, 32 May 18 14:19 /dev/sdc

Since sda is mostly a system disk, do not touch absolute.

Depending on the distribution, if there is a mountable file system in the SD card, there seem to be a case where it is mounted automatically. In that case, unmount the disk. (In Ubuntu, a folder of the file system mounted on the desktop appears, please remove it by right click, otherwise unmount with the umount command.)

SD card mounted on Ubuntu (removable with right click menu)

dd if = Image file of = Device file of SD card bs = 1M Enter the command and execute it. However, since writing to the device file requires administrator (root) privilege, please use sudo.

 $ unzip  2013-02-09-wheezy-raspbian.zip
 Archive:  2013-02-09-wheezy-raspbian.zip
   inflating: 2013-02-09-wheezy-raspbian.img
 $ sudo dd if=2013-02-09-wheezy-raspbian.img of=/dev/sdb bs=1M
 1850+0 records in
 1850+0 records out
 1939865600 bytes (1.9 GB) copied, 201.543 s, 9.6 MB/s

During execution, you can check whether the writing is performed correctly by executing the iostat command on another terminal or the like. (In the latest distribution, it may not be installed by default.debian / ubuntu allows you to use the iostat command with apt-get install sysstat.)

 $ iostat -mx 1
  avg-cpu:  %user   %nice %system %iowait  %steal   %idle
            0.00    0.00    0.00   50.25    0.00   49.75
 Device:         rrqm/s   wrqm/s     r/s     w/s    rMB/s    wMB/s avgrq-sz avgqu-sz   await  svctm  %util
 sda               0.00     0.00    0.00    1.00     0.00     0.00     8.00     0.00    0.00   0.00   0.00
 sdb               0.00  1856.00    0.00   78.00     0.00     9.14   240.00   143.40 1855.85  12.82 100.00

Looking at the item of sdb, we can see that the writing speed of 9.14 MB/sec has come up. If you have a speed of about 6 MB/sec for class 6 SD card and 10 MB/sec for class 10 SD card, you can think that it is being written without problem. Depending on distribution, it may be mounted automatically when writing is finished. In that case, please unmount and then remove the SD card.

(G)Writing images (Mac OS X)

Mac OS X also writes using the dd command like Linux. However, on Mac, it is mounted automatically when you insert an SD card, you can not write to the SD card with the dd command while mounting, you need to unmount (remove from OS).

When inserting the SD card, an SD card icon will appear in the Finder as shown. Please be careful not to push eject button as you intend to unmount.

SD card mounted on Mac

The volume name of the SD card is Untitled here. Remember the volume name. When you enter the df command from the command prompt, the following message is displayed.

 $ df -k
 Filesystem                        1024-blocks      Used Available Capacity   iused    ifree %iused  Mounted on
 /dev/disk0s2                        500000000 437664508  62079492    88% 109480125 15519873   88%   /
 devfs                                     194       194         0   100%       679        0  100%   /dev
 map -hosts                                  0         0         0   100%         0        0  100%   /net
 map auto_home                               0         0         0   100%         0        0  100%   /home
 /dev/disk1s1                            57288     18992     38296    34%       512        0  100%   /Volumes/Untitled

The lowest /Volumes/Untitled is the mount point of the SD card. Remember the device name of the leftmost SD card /dev/disk1s1. Unmount this SD card. Use the command diskutil and enter diskutil umount <mount point>.

 $ diskutil umount /Volumes/Untitled
 Volume (null) on disk1s1 unmounted
 $ df -k
 Filesystem                        1024-blocks      Used Available Capacity   iused    ifree %iused  Mounted on
 /dev/disk0s2                        500000000 437664716  62079284    88% 109480177 15519821   88%   /
 devfs                                     194       194         0   100%       679        0  100%   /dev
 map -hosts                                  0         0         0   100%         0        0  100%   /net
 map auto_home                               0         0         0   100%         0        0  100%   /home

You can see that /Volumes/Untitled disappears and the SD card is unmounted. Then write the image using the dd command. dd if=image file of=/dev/rdisk1bs=1m. of=/dev/rdisk1 is the device name which takes the last s1 of the device file /dev/disk1s1 that you remembered earlier and also appended r to disk before the device is.

Since this command accesses the device file, it can not be executed unless it is an administrator (root). Execute as follows using sudo.

 $ sudo dd if=2013-02-09-wheezy-raspbian.img of=/dev/rdisk1 bs=1m
 1850+0 records in
 1850+0 records out
 1939865600 bytes transferred in 302.377337 secs (6415380 bytes/sec)

While writing, you can see if the writing is performed correctly by looking at "Disk operation" in "Activity monitor". If you have a speed of about 6 MB / sec for class 6 SD card and 10 MB / sec for class 10 SD card, you can think that it is being written without problem.

When the writing is completed, it will automatically mount again, so press the eject button on the Finder this time to remove the SD card.

Initial setting of Raspberry Pi

(G)Launch Raspberry Pi

Please connect HDMI monitor, keyboard, network to Raspberry Pi.

After inserting the SD card and turning on the power to Raspberry Pi for the first time, the following setting screen (raspi-config) is displayed after the display screen of various drivers is displayed.

Note that raspi-config will not be displayed when operating from the PiRT-Unit serial console described below. You can initialize by logging in with the following user name and password and executing the raspi-config command.

  • ID' : pi
  • Password'' : raspberry

 Debian GNU/Linux 7.0 rtunit0 ttyAMA0
 rtunit0 login: pi
 Last login: Sat Feb  9 03:40:44 UTC 2013 on ttyAMA0
 Linux rtunit0 3.6.11+ #371 PREEMPT Thu Feb 7 16:31:35 GMT 2013 armv6l
 The programs included with the Debian GNU/Linux system are free software;
 the exact distribution terms for each program are described in the
 individual files in /usr/share/doc/*/copyright.
 Debian GNU/Linux comes with ABSOLUTELY NO WARRANTY, to the extent
 permitted by applicable law. 
 NOTICE: the software on this Raspberry Pi has not been fully configured. Please run 'sudo raspi-config'
 $ raspi-config
Raspberry Pi initial setting screen

(G)Setting items

The contents of each item are shown below. Please set each item as necessary.

1 Expand Filesystem Extend the partition of the SD card to be used.In the initial state, since you are not using the whole SD card, please extend it unless there is a particular reason.
2 Change User Password Change the password of the initial setting user "pi" Please change to the user's easy-to-understand password.
3 Enable Boot to Desktop/Scratch It is the setting of the screen at the time of starting, and the default is the console use. Set it if you want to change to GUI usage.
4 Internationalisation Options "Locale", "Time zone", "Keyboard layout" settings.
I1 Change Locale Set the locale, please set the keyboard layout to [ja_JP.ECU-JP ECU-JP] etc. If necessary, installation of Japanese fonts seems to be necessary.
I2 Change Timezone Set the time zone When using in Japan, set [Asia]-[Tokyo].
I3 Change Keyboard Layout Set the keyboard layout to match your keyboard Make keyboard settings. Please set it as Japanese keyboard etc. as necessary.
5 Enable Camera Please set it when camera module is connected.
6 Add to Rastrack Registering with Rastrack
7 Overclock Overclocking
8 Advanced Options Other options. We will only cover items necessary for PiRT-Unit environment here.
A6 SPI To use SPI, set it to Enable. (Disable by default)
A7 I2C To use I2C, set it to Enable. (Disable by default)
9 About raspi-config Information about this tool is displayed.

After setting the above items, please select [Finish] with [Tab] key and execute. Raspberry Pi main unit restarts, various settings become effective.

After rebooting, wait for command input and execute "startx", the Raspbian desktop screen will be displayed.

Raspbian desktop screen

To terminate, please stop using the following command, then unplug the power from the main unit.

 $ sudo halt

(G)Wireless LAN settings

By inserting and setting a wireless LAN dongle in Raspberry Pi 's USB, you can wirelessize Raspberry Pi. It is convenient when installing it in a mobile robot.


First edit/etc/network/interfaces as follows.

 $ sudo vi /etc/network/interfaces

Rewrite the following two places.

 iface wlan0 inet manual
 iface wlan0 inet dhcp

 wpa-roam /etc/wpa_supplicant/wpa_supplicant.conf
 wpa-conf /etc/wpa_supplicant/wpa_supplicant.conf

(G)Edit /etc/wpa_supplicant/wpa_supplicant.conf

Next, register the ESSID and key of the wireless LAN.

 $ sudo bash
 # cd /etc/wpa_supplicant
 # wpa_passphrase ESSID pass >> wpa_supplicant.conf

Enter the ESSID of the wireless LAN for SSID and the wireless LAN key for pass. Be careful to use >> (append) instead of > when redirecting. I think that the result is as follows.

 ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev

Depending on the wireless LAN access point settings, additional configuration may be necessary. An example is shown below.

 ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
         pairwise=TKIP CCMP
         group=TKIP CCMP

Finally, initialize the interface.

 # ifdown wlan0
 # ifup wlan0
 Internet Systems Consortium DHCP Client 4.2.2
 Copyright 2004-2011 Internet Systems Consortium.
 All rights reserved.
 For info, please visit https://www.isc.org/software/dhcp/
  : Omission
 DHCPREQUEST on wlan0 to port 67
 bound to -- renewal in 34810 seconds.

If you can not connect to the wireless LAN here, please review the settings in /etc/network/interfaces, /etc/wpa_supplicant/wpa_supplicant.conf.

 # ifconfig wlan0
 wlan0     Link encap:Ethernet  HWaddr XX:XX:XX:XX:XX:XX
           inet addr:  Bcast:  Mask:
           RX packets:1218 errors:0 dropped:0 overruns:0 frame:0
           TX packets:21 errors:0 dropped:0 overruns:0 carrier:0
           collisions:0 txqueuelen:1000
           RX bytes:250608 (244.7 KiB)  TX bytes:4506 (4.4 KiB)

Illegally, IP address was assigned to wireless LAN wlan0. 無事、無線LAN wlan0 に IPアドレスが割り振られました。

(G)Remotely connect with host name

When you operate Raspberry Pi with remote login with ssh, if you do not allocate a fixed IP address, you usually need to consult the Raspberry Pi's IP address in the console and connect.

So install the service called avahi compatible with Bonjour. Bonjour is a service to automatically search and use services on the network advocated by Apple. If you use avahi, you can also access Raspberry Pi allocating IP address by DHCP by host name.

(G)Setting the host name

Select and set a host name that does not conflict with other host names.

 $ sudo vi /etc/hostname

Write the host name in /etc/hostname in the first line. The initial value is raspberrypi. In addition, rewrite the portion of raspberrypi in /etc/hosts to the host name you decided above.

 $ sudo vi /etc/hosts

(G)Installation of avahi-daemon

Install the avahi daemon with the following command.

 $ sudo apt-get update
 $ sudo apt-get install avahi-daemon

I will try pinging my host. Use the host name followed by .local.

 $ ping myhost.local

If ping is returned in this way, avahi is almost correctly set.

(G)Installing Bonjour (Windows only)

In order to access RaspberryPi with avahi set from PC, avahi or Bonjour must also be installed on the PC side.

On Linux, you can use it by installing avahi-daemon like RaspberryPi. Also Bonjour is installed by default on Mac, so you do not need to do anything in particular.

On Windows, Bonjour is not installed by default. The easiest way to install Bonjour is to install iTunes.

If you really do not want to install iTunes, you can also extract BonjourSetup.exe by unpacking the downloaded iTunesSetup.exe in an archiver application or the like.

Bonjour is also included in the following Apple Bonjour printing service. (The version seems to be slightly older than what is shipped with iTunes.)

Currently Applie does not distribute Bonjour for Windows alone, but there are also some sites redistributing things that were once distributed. (However, it seems that you can get only the old version.) Below are Bonjour download sites other than Apple site. Please use at your own risk.

(G)Bonjour does not work well

Bonjour may not work well if the firewall is running. In that case, please open UDP port 5353 or turn off the firewall.

(G)Installation of TeraTerm

In order to login via ssh from Windows to RaspberryPi, you need to install the ssh client. There are many clients available on Windows, but here we introduce Tera Term.

After installing TeraTerm, when starting up, a connection dialog will appear. Enter the host name+.Local set earlier in the "Host" text box and press OK. If the password has not been changed,

  • ID: pi
  • Password: raspberry

You can login with. In addition, Linux and Mac open a terminal window

 $ ssh pi@myhost.local
Connect as follows.

How to use xfinder

Since Raspberry Pi has no way to know the IP address etc. in the headless state (state where monitor and keyboard are not connected), it is a bit difficult to perform initial setting. It is possible to connect the monitor and the keyboard first, set the host name and know the IP address from the host name via Avahi as described above, but this method can not be used for Raspberry Pi which is not set at all .

(G)What is xfinder

xfinder is a tool for indexing and logging IP addresses from MAC (Media Access Control) addresses of Ethernet interfaces mounted on CPU boards such as Raspberry Pi and BeagleBone.

A 48-bit unique address (MAC (Media Access Control) address) is allocated to the Ethernet interface, and its high-order 24 bits are unique addresses of vendors (companies developing network devices, etc.). In Ethernet, it is necessary to know each other's MAC address in order to transmit and receive packets, and it is possible to use a protocol called ARP (Address Resolution Protocol) to check the MAC address from the IP address. In xfinder, by finding a pattern of a specific MAC address connected on the network, it is possible to check the IP address of a headless system such as Raspberry Pi, support login by ssh etc. to facilitate setting and development I will.

Find RaspberryPi with xfinder

xfinder is an executable file which can be used as two types of command line tool (CUI mode) and graphical user interface tool (GUI mode). This section explains how to use xfinder in GUI mode.

(G)Download xfinder

You can download xfinder from the following location.

Downloaded xfinder

(G)Use xfinder (GUI mode)

How to use xfinder is the following three steps.

  • Scan the network and find Raspberry Pi etc.
  • Check the Raspberry Pi found by scanning
  • Log in with TeraTerm etc. terminal software and work


When you start xfinder.exe, the following screen will be displayed.

xfinder's GUI screen

First, designate the scanning conditions (interface, board, MAC address pattern etc.) in the upper left pane, start scanning, ② select the list of Raspberry Pi etc found by scanning the next, so select ③ In the lower left pane, specify the login conditions and start the terminal application. After the terminal application starts up, you can log in to the target Raspberry Pi and perform settings, program development and so on.

You can also start the terminal application and log in by double clicking the list of boards displayed in the right pane.

(G)Scan settings

In Scan settings in the upper left corner, set conditions for scanning the network.

(G)Interface address

Select the network interface of the current PC to search for Raspberry Pi. When there are multiple network interfaces, since multiple IP addresses are displayed, it is important to know which network (for example, one is on the global side and the other on the private side network and Raspberry Pi in the private side network If you want to find it, select a private address here) Select whether to scan.

Specify the IP address of the network interface to be scanned with Interface address

Select ALL to scan all network interfaces. If you do not know which IP address corresponds to which network interface, go to Control PanelNetwork and Internet Network and Sharing CenterChange Adapter Settings Click on the adapter icon to see what kind of IP address is assigned.

You can also open the command prompt and execute the ipconfig command to check the interface and assigned IP address.

(G)Board type

Choose which board to look for from the combo box. You can select Raspberry Pi or BeagleBone, by default Raspberry Pi is selected.

Specify board type to be scanned

If you do not have the board you want to find in this list, you need to check the 6 digits above the MAC address of the corresponding network interface and enter it in the next Match Pattern text box to scan.

If you connect Raspberry Pi with a USB wireless LAN adapter and wireless LAN only, you can not find it even if you select Raspberry Pi here. Enter the 6 digits above the MAC address of the MAC address of the wireless LAN adapter (for example, 10: 6 f: 3 f in Buffaro) in the Match Pattern and search for it.

(G)Match pattern

When looking for a board other than Raspberry Pi or BeagleBone, enter the pattern of the MAC address you want to search here.

Specify the MAC address pattern to scan

Also, even if you install a wireless LAN adapter etc. in Raspberry Pi, it is possible to search by entering 6 digits on MAC address unique to the manufacturer. However, there are times when many wireless LAN adapters etc. of major manufacturers are discovered when scanning.

(G)Scan button / Abort button

Press the Scan button to execute the scan. It can not be pressed during scanning. Press the Abort button if you want to quit while scanning is in progress. It can only be pressed during scanning. The progress bar under the button shows the progress of the scan.

Scan execution

(G)Found nodes

The Found nodes pane on the right displays the IP address, MAC address and host name of the board found by scanning.

  • IP address: Displays the IP address of the found board. If you press the header part, sort by IP address order.
  • MAC address: Displays the MAC address of the found board. If you press the header part, sort by MAC address order.
  • Host name: Displays the host name of the found board. If you press the header part, sort by host name.

If you double click on the list displayed here, you can start the terminal application and log in according to the setting of Terminal launcher on the left.

Start terminal applications directly from nodes

(G)Terminal launcher

The Terminal launcher pane on the left is used to log in to the found host using the terminal application.

  • User name: Enter the user name to use when logging in. The value is automatically entered by Board type setting of Scan setting in the upper left.
  • Password: Enter the password to use when logging in. The value is automatically entered by Board type setting of Scan setting in the upper left.
  • Port: Enter the port number to use when logging in. By default, ssh default port number 20 is set.
  • Terminal App: Terminal application to use comes from selecting from the combo box. Available terminal applications are one of TeraTerm, Poderosa, PuTTY on Windows, check if they are installed at startup, only those available are listed I will.
  • Login button: Node to log in with Found nodes on the right Select when you select it. When this button is pushed, the terminal application is started according to the setting above and you can log in to Raspberry Pi.
Board type User name Password
RaspberryPi pi raspberry
BeagleBone root (no password)

Start the terminal application by pressing the Login button

Terminal application started (TeraTerm Pro)

Installation of development environment

By installing the development environment on Raspberry Pi, it is possible to develop by self-compiling on Raspberry Pi. (On embedded Linux boards of this size, development by cross compiling is usually usual.)

Therefore, you can compile and execute the RT component code generated by RTC Builder on PC on Raspberry Pi. Unfortunately it seems difficult to install Eclipse and use it at practical speed.

In this section we will install the necessary packages to develop RT components.

(G)Installing OpenRTM-aist

OpenRTM-aist can be installed using apt-get. First, modify sources.list.

 $ sudo vi /etc/apt/sources.list

Add the following line to source list.

 deb http://openrtm.org/pub/Linux/raspbian/ wheezy main

Next, install according to the following procedure.

 # apt-get update
 # apt-get -y --force-yes install gcc g++ make uuid-dev
 # apt-get -y --force-yes install libomniorb4-dev omniidl omniorb-nameserver
 # apt-get -y --force-yes install openrtm-aist openrtm-aist-dev openrtm-aist-example
 # apt-get -y --force-yes install openrtm-aist-python openrtm-aist-python-example

(G)Running sample components

After installing OpenRTM-aist, start the sample component and check whether OpenRTM-aist was installed correctly.

As shown below, execute the name server and ConsoleOut component on the PC side with the name server and ConsoleIn component, Raspberry Pi side. By default, the component connects to the localhost name server, so you can use it to easily access the component without setting up a specific name server in rtc.conf. In the RTSystemEditor on the PC, connect to the PC's name server and the name server on Raspberry Pi and connect the ConsoleIn component and the ConsoleOut component.

Run sample

(G)Running ConsoleOut on Raspberry Pi

After connecting to Raspberry Pi with TeraTerm etc., start the component. Launch ConsoleOut after starting the naming service.

 $ rtm-naming
 $ /usr/share/OpenRTM-x.y/examples/ConsoleOutComp
 $ python /usr/share/OpenRTM-x.y/examples/python/SimpleIO/ConsoleOutComp.py

When installing omniorb-nameserver above, omniORB naming service is started automatically at system startup. However, depending on the startup timing of the name service and startup timing of the network interface, it may not be able to access the name server correctly from the outside. In that case, you may be able to deal with the problem by restarting the name server with the rtm-naming command.

(G)Running ConsoleIn on the PC side

First, start the name server. In Windows, start from "Start Naming Service" under "OpenRTM-aist x.y" > "C++" > "tools" from the start menu. Also, start RTSystemEditor.

Start naming service

Next, start ConsoleIn. Click "ConsoleOut" under "OpenRTM-aist x.y" > "C++" > "examples" to start the ConsoleOut component.

(G)Connection by RTSystemEditor

Click the outlet icon in NameService View on the left side of RTSystemEditor and connect to the name server. First, connect to the name server of the local host. Enter localhost in the connection dialog.

Connect to name server (localhost)

Next, connect to the name server of Raspberry Pi. Click on the connection icon of NameService View again and enter the host name of Raspberry Pi+.local in the dialog.

Connect to name server (Raspberry Pi)

The name service view shows the status of the two name servers and you should see two components, ConsoleIn0 and ConsoleOut0, under each name server. Click on the online editor icon (icon marked ON) on the RTSystemEditor menu bar to open SystemEditor. Drag and drop ConsoleIn0 and ConsoleOut0 from NameService View onto SystemEditor and connect InPort and OutPort respectively.

Connection between ConsoleIn and ConsoleOut by RTSystemEditor

Click the green play button on the menu bar to activate the two components and to the state shown above.

Enter the appropriate number from the window of the ConsoleIn component on the PC side.

Enter numeric value from ConsoleIn (PC)

Then, the numerical value entered in ConsoleIn appears on the display of ConsoleOut on Raspberry Pi side as shown below.

ConsoleOut (Raspberry Pi) side display

(G)trouble shooting

Depending on the network environment and PC settings, the above procedure may not work. Please refer to the troubleshooting below and solve the problem.

(G)ConsoleOut is not displayed on the service of Raspberry Pi side

Name server problem
When the end server address of the name server is invalid This kind of phenomenon occurs. It may be resolved by restarting the name server with rtm-naming.

In addition, if there are two or more network interfaces such as Raspberry Pi's wired LAN and wireless LAN etc., there are cases to resolve by using only one network used for connection with PC.

Component problem
A name server other than localhost may be registered in the configuration file (rtc.conf) that the component has read. Please set up to register the component on the localhost name server such as described as corba.nameservers: localhost.

Also, if there are two or more network interfaces such as Raspberry Pi's wired LAN and wireless LAN, there are cases to solve by using only one network used for connection with PC.

(G)Can not connect with RTSystemEditor, there is no reaction, etc.

PC side component problem
When there are two or more network interfaces on the PC, this happens when the interface address that Raspberry Pi does not use is used as a component reference.

Check the IP address of the PC with ipconfig from the command prompt and set the IP address of the one used for rtc.conf as follows.


However, in Vista and later Windows, files below C:\Program Files can not be edited easily. Take action by copying (or newly creating) ConsoleIn.exe and rtc.conf in an appropriate directory such as C:\tmp.

Raspberry Pi side component problem
When there are two or more network interfaces such as Raspberry Pi's wired LAN and wireless LAN, etc., if each is connected to a different network, the same problem as the above PC occurs . Check the IP address of the one you use with ifconfig and put it in rtc.conf as follows.


(G)Installing CMake

cmake can be installed using apt-get. Install as a user with root authority.

 $ sudo apt-get update
 $ sudo apt-get install cmake

(G)About installation of Doxygen

In the CMake-based RT component project, it is set to generate documents by using doxygen by default. However, installing doxygen will install LaTeX and others at the same time, which puts pressure on the capacity of the SD card, so we will not install Doxygen in this tutorial.

(G)How to not generate documents

To suppress document generation by doxygen in CMake based RTC project, at the top level CMakeLists.txt,

 option(BUILD_DOCUMENTATION "Build the documentation" ON)
 option(BUILD_DOCUMENTATION "Build the documentation" OFF)

Change it as follows.

(G)Installing Doxygen

If the SD card has enough capacity doxygen can be installed with apt-get as follows.

 $ sudo apt-get install doxygen

It will take about ten minutes before Doxygen installation is complete.

(G)Installing Subversion/Git

It is recommended to install subversion / git because it is used frequently to acquire the source code from the outside.

 $ sudo apt-get install subversion git

(G)Test compilation

I will test whether the component can be compiled. There are components for mobile robot Kobuki in the following repository, so check it out and compile it.

(G)Check out the source code

Let's check out the source code.

 $ svn co http://svn.openrtm.org/components/trunk/mobile_robots/kobuki
   : Omission
 A    kobuki/libkobuki/doc/CMakeLists.txt
 A    kobuki/libkobuki/License.rtf
 A    kobuki/libkobuki/CMakeLists.txt
 A    kobuki/rtc.conf
 A    kobuki/CMakeLists.txt
 Checked out revision 2.

kobuki directory How the source code has been checked out, create a build directory, build and install within it.

  $ cd kobuki
  $ mkdir build
  $ cd build
  $ cmake -DCMAKE_INSTALL_PREFIX=/usr ..
  $ make
  $ cd src
  $ make install

kobuki directory How the source code has been checked out, create a build directory, build and install within it....

Running sample components

In the following example, using GPIO, you can create a component (DigitalIn-RTC, DigitalOut-RTC) that detects the ON/OFF of the switch and light up the LED and understand the use of GPIO which is the feature of Raspberry Pi I will deepen. The source code of the sample component can be downloaded from the following.

  • Sample component source: &ref (RaspberryPi_sample.zip);

(G)GIOP of Raspberry Pi

Raspberry Pi has a GPIO terminal, which allows you to use various external devices.

The pin assignment of the GPIO that is attached to the Raspberry Pi main unit is shown below.

Raspberry Pi GPIO pin assignment

When using GPIO, pay attention to the position of each pin, especially if using 5V terminal, mistake in wiring may damage the Raspberry Pi main unit and SD card, so be careful enough please.

(G)Breadboard wiring example

Create a circuit that lights the LED and a circuit that detects ON/OFF of the switch. If you have a breadboard etc, you can easily build a circuit, but since there are few parts even if it is not, you can easily form a circuit by soldering lead wires etc. Below is a list of necessary parts.

Bill of Material
LED circuit
LED 1piece
Resistance 100Ω(brown black tea gold) - 330Ω(orange orange tea gold)
Lead wire Somewhat
Switch LED circuit
LED 1piece
Resistance 330Ω(Orange Orange Tea) - 1kΩ(Brown Black Red Gold)
Lead wire Somewhat

If there is only one Raspberry Pi, connect the following LED and switch circuit to the same Raspberry Pi. If there are two Raspberry Pi, it may be interesting to install LEDs and switches on each Raspberry Pi.

(G)Wiring example for DigitalIn-RTC

DigitalIn-RTC is a component that outputs the bool value (true/false) input to the data port to the specified GPIO port. In order to observe the output value of the GPIO port, connect the LED and resistor to the Ground pin and GPIO 18 pin and create a circuit as shown below.

LED Connection Circuit

This is the case when creating this circuit with breadboard.

Example of LED circuit wiring with breadboard

(G)Wiring example for DigitalOut-RTC

DigitalOut-RTC is a component that outputs the bool value (true/false) input to the GPIO port from the data port. In order to input the value to GPIO, connect a resistor and a switch to Ground, 3.3V Power, GPIO 17 and create a circuit as shown below.

TACT Switch Connection Circuit

This is the case when creating this circuit with breadboard.

Example of switching circuit wiring with breadboard

(G)Compiling components

Download the source code to Raspberry Pi from below and compile the DigitalIn-RTC/DigitalOut-RTC component.

(G)Compiling DigitalIn-RTC

 $ unzip RaspberryPi_sample.zip
 $ cd RaspberryPi_sample/DigitalInRPI/
 $ vi CMakeLists.txt

Now rewrite CMakeLists.txt and set it to suppress document generation.

 option(BUILD_DOCUMENTATION "Build the documentation" OFF)
 option(BUILD_DOCUMENTATION "Build the documentation" ON)
 $ mkdir build
 $ cd build
 $ cmake ..
 -- The C compiler identification is GNU 4.6.3
 -- The CXX compiler identification is GNU 4.6.3
   : Omission
 -- Configuring done
 -- Generating done
 -- Build files have been written to: /home/pi/RaspberryPi_sample/DigitalInRPI/build

If OpenRTM-aist is correctly installed, configure will terminate without problems. If an error occurs due to lack of OpenRTM or coil, please confirm that OpenRTM-aist (C++ version) is correctly installed (dpkg -l |grep openrtm etc.).

 $ make
  : Omission
 Scanning dependencies of target DigitalInComp
 [ 66%] Building CXX object src/CMakeFiles/DigitalInComp.dir/DigitalInComp.cpp.o
 [100%] Building CXX object src/CMakeFiles/DigitalInComp.dir/DigitalIn.cpp.o
 Linking CXX executable DigitalInComp
 [100%] Built target DigitalInComp

The compiled component DigitalInComp is under src.

 $ ls src/
 CMakeFiles  cmake_install.cmake  DigitalInComp  DigitalIn.so  Makefile

(G)Compiling DigitalOut-RTC

Compile like DigitalIn-RTC.

 $ cd RaspberryPi_sample/DigitalOutRPI/
 $ mkdir build
 $ vi CMakeLists.txt

Now rewrite CMakeLists.txt and set it to suppress document generation.

 option(BUILD_DOCUMENTATION "Build the documentation" OFF)
 option(BUILD_DOCUMENTATION "Build the documentation" ON)
 $ mkdir build
 $ cd build
 $ cmake ..
 -- The C compiler identification is GNU 4.6.3
 -- The CXX compiler identification is GNU 4.6.3
   : Omission
 -- Configuring done
 -- Generating done
 -- Build files have been written to: /home/pi/RaspberryPi_sample/DigitalOutRPI/build
Then make it.

 $ make
 -- OpenRTMConfig.cmake found.
 -- Configrued by configuration mode.
  : Omission
 Scanning dependencies of target DigitalOutComp
 [ 66%] Building CXX object src/CMakeFiles/DigitalOutComp.dir/DigitalOutComp.cpp.o
 [100%] Building CXX object src/CMakeFiles/DigitalOutComp.dir/DigitalOut.cpp.o
 Linking CXX executable DigitalOutComp
 [100%] Built target DigitalOutComp

The compiled component DigitalOutComp is under src.

 $ ls src/
 CMakeFiles  cmake_install.cmake  DigitalOutComp  DigitalOut.so  Makefile

(G)Running components

Once each RTC has been successfully compiled, start up each RTC after launching NameServer.

 $ rtm-naming
 $ sudo  /home/pi/RaspberryPi_sample/DigitalOutRPI/build/src/DigitalOutComp &
 $ sudo  /home/pi/RaspberryPi_sample/DigitalInRPI/build/src/DigitalInComp &

&color(red){Since the sample component uses GPIO, it must be executed with root authority.} &color(red){※サンプルコンポーネントは GPIO を利用するので root 権限で実行する必要があります。}

Launch RTSystemEditor on PC and connect to NameServewr on Raspberry Pi. After placing each RTC, connecting between the ports, activate.

Run sample RTC

When each RTC starts normally, the LED turns on/off according to the status of the takt switch.

IO programming using PiRT-Unit

This Book explains how to combine Raspberry Pi and PiRT-Unit from OpenRTM-aist.

(G)Using PiRT-Unit

PiRT-Unit is an IO expansion board for Raspberry Pi developed at AIST. It is on sale from Win electronics industry.

You can use AD (4ch), DA (2ch), PWM (1ch), I2C (1ch), RS232C/XBee (1ch) from PiRT-Unit respectively.

PiRT-Unit I/O connector arrangement diagram


  • Analog input (10bit ADC x 4ch) available
  • Analog output (12bit DAC x 2ch) available
  • PWM x 1 ch: RC servo motor available
  • I2C serial communication available
  • RS232C Dsub connector available
  • Connector for Xbee connection available (Selectable with RS232C above)
  • 5V dc input: can supply power to Raspberry Pi
  • You can use the AC adapter that can be purchased cheaply by Akizuki Electronics etc.


Raspberry Pi extended IO board
AD converter 10bit, 4ch & br; chip: ADC104S021
sampling 200kHz
DA converter 12bit, 2ch & br; chip MCP4822
PWM output 1ch, for RC servomotor drive
photo coupler insulation
RS232C D-SUB 9 pin connector
Switch with XBee and jumper
XBee XBee connection connector
XBee: Digi International made Zigbee module
Switch with XBee and jumper
Power supply input 5V DC input
Supply power to Raspberry Pi
Power supply from Raspberry Pi also works

PiRT-Unit circuit block diagram

Procedure to install robot arm in Kobuki

(G)Academic SCARA robot

Academic SCARA robot is a horizontal articulated robot arm for robot control learning that Viston sells.

Academic scalar For RTC of robot control please refer to the following page.

This chapter explains the procedure to fix the academic SCARA robot to Kobuki's plate.


The necessary items for this work are as follows.

Name Quantity
Kobuki 1unit
Plate 1sheet
Support pillar (5cm) 8pcs
Academic SCARA robot 1unit
Wood screw (2cm or more) 4pcs

(G)Robot specifications

Academic SCARA robot specification
Degree of freedom 4 degrees of freedom + hand
Servo motor RS304MD
Communication method HID USB - UART bridge

(G)When fixing the scalar bot directly to the plate

I will explain the procedure to attach the SCARA robot directly to the plate.

First of all, I will puncture a hole in the plate etc. Please drill a hole at the position of the red dot below.


After that you can fix the root part of the SCARA robot by fixing it with a wood screw.


(G)In case of fixing each base

I will explain how to attach the SCARA robot to the base and fix the base to the plate.

(G)Machining the foundation

In order to fix it to the plate of Kobuki, a hole is made in the base of the SCARA robot. Please drill a hole in the red part of the figure below. Please decide the size of the hole by the size of the wooden screw to be used.


(G)Mounting the foundation

First attach the SCARA robot to the base. After installing in the opposite direction as shown in the figure, secure with urea screw.


(G)Robot installation

Please prepare a pilot hole in the plate beforehand with dust etc. It is completed by inserting the wooden screw in the part where the hole of the foundation was opened and joining with the plate with the screw.


(G)Plate mounting

First of all, I will prepare four posts for Kobuki. Please adhere to Kobuki with laser range sensor, Raspberry Pi with double sided tape etc etc.


Please use a post with two 5cm struts connected.


Place the plate and fasten it with screws to complete.


(G)Sign Smart smart 4 degree of freedom robot arm

In this chapter, we will explain the procedure for installing the 4 degree of freedom robot arm sold by sign smart to Kobuki.

Please refer to the following page for RTC of 4 degree of freedom robot arm control.

The necessary items for this work are as follows.

Name Quantity
Kobuki 1unit
Plate 1sheet
Support pillar (5 cm) 8pcs
4 degrees of freedom robot arm 1unit
Arduino Uno 1unit
Jumper code 15 or more
Breadboard 1sheet
Battery compartment single 3x4pcs 1pc
AA battery 4pcs
Wood screw (2cm or more) 4pcs

When controlling from Intel Edison, Raspberry Pi, it is possible to use a servo driver equipped with PCA 9685

(G)Robot specifications

CENTER: Specification of 4 degrees of freedom robot arm
Degree of freedom 4 degrees of freedom
Servomotor MG995, SG90 9G

(G)Robot installation

Processing to here is unnecessary because the 4-degree-of-freedom robot arm has a hole for mounting from the beginning.


Please insert the wooden screw in the hole of the base part and join with the plate.

(G)Plate mounting

It is the same as procedure of academic scalar robot.


(G)Copying files to Raspberry Pi

By setting SSH to be effective on Raspberry Pi setting screen (Raspi-config), sFTP can be used.When connecting to Raspberry Pi with sFTP from Windows, software supporting sFTP (WinSCP etc. )Use the.

Here to the WinSCP download page.

Figure 4-1 sFTP connection

(G)Use of Virtual Network Computing (VNC)

Install the VNC server to operate Raspbian's GUI environment on the development PC.

You can download VNC from here.

&#10;$ su&#10;# apt-get install tightvncserver&#10;

During installation, you will be prompted to enter a password to connect to the VNC server, so set an appropriate password. After installing the VNC server, SSH connection to Raspberry Pi using the terminal from the development PC and start up the VNC server.

&#10;$ vncserver :1 -geometry 1024x600 -depth 16 -pixelformat rgb565&#10;

Figure4-2 Starting the VNC server

When connecting to VNC server from Windows, use VNC client software (such as RealVNC).

Figure4-3 VNC connection