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robocup:robotic_arm [2016/02/23 15:12]
nfave
robocup:robotic_arm [2019/04/25 14:08] (current)
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 {{tag>​project robot}} {{tag>​project robot}}
  
-Information about the robotic arm  ​and ​the project.+The robotic arm is part of the robocup ​project. ​Its purpose is to detect and catch specifics objects and displace them to another position. 
 + 
 +The arm is composed of 4 used dynamixels (two EX-106+, one RX64 and one MX28) who communicate via the USB2Dynamixel device. 
 + 
 +INSERT ARM PHOTO HERE 
 + 
 +The hand was inspired by a real human hand. There are two tendons for each fingers, allowing a lot of movement. It is composed of 12 servomotors DS95 (only 10 are actually used). 
 + 
 +INSERT HAND PHOTO HERE
  
 ===== Requirements ===== ===== Requirements =====
  
-The arm must be connected to a computer using a Linux Operating System. The project also needs [[ROS]] installed with the Indigo distro.+The arm must be connected to a computer using a Linux Operating System. The project also needs [[:ros]] installed with the Indigo distro.
  
 You must also have these ROS packages installed :  You must also have these ROS packages installed : 
-  * [[robotic_arm package]] +  * [[robocup:​robotic_arm_package]] 
-  * [[robotic_arm_controler package]] +  * [[robocup:​robotic_arm_controler_package]] 
-  * [[objects_detection package]] +  * [[robocup:​objects_detection_package]] 
-  * [[kinect_aux_robotic_arm package]]+  * [[robocup:​kinect_aux_robotic_arm_package]]
  
 ===== Connections ===== ===== Connections =====
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   * Connect the Kinect to the computer.   * Connect the Kinect to the computer.
   * Launch openni.launch from openni_launch package   * Launch openni.launch from openni_launch package
-  * Run kinect_aux_robotic_arm from [[kinect_aux_robotic_arm package]] +  * Run kinect_aux_robotic_arm from [[robocup:​kinect_aux_robotic_arm_package]] 
-  * Set the angle of the kinect at -50° using [[kinect_aux_robotic_arm package]].+  * Set the angle of the kinect at -50° using [[robocup:​kinect_aux_robotic_arm_package]].
   * Supply the arm and the hand. You must use a laptop charger for the arm, and a 6V external supplier for the hand (the current can go up to 4A during the movement)   * Supply the arm and the hand. You must use a laptop charger for the arm, and a 6V external supplier for the hand (the current can go up to 4A during the movement)
-  * Launch the robotic_arm.launch from [[robotic_arm_controler ​package]].+  * Launch the robotic_arm.launch from [[:​opennilaunch| openni_launch ​package]]. 
 +  * Launch the robotic_arm.launch from [[robocup:​robotic_arm_controler_package]].
   * At this point, you can enter the following command in order to see the objects detected by the kinect :   * At this point, you can enter the following command in order to see the objects detected by the kinect :
  
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  rostopic pub -1 /​arm_controler/​new_coordinates geometry_msgs/​Pose "​{position:​[X,​ Y, Z], orientation:​[0,​ 0, 0, 0]}"  rostopic pub -1 /​arm_controler/​new_coordinates geometry_msgs/​Pose "​{position:​[X,​ Y, Z], orientation:​[0,​ 0, 0, 0]}"
  
-''​**WARNING**''​+__''​**WARNING**''​__
  
 During the test, be sure to check if none of the dynamixel red led is on, and the current of the external supplier is no more than 6A. If that's the case, unplug the chargers. Moreover, be careful when unplugging the arm charger (laptop charger) because the arm will fall so hold it before unplug it. During the test, be sure to check if none of the dynamixel red led is on, and the current of the external supplier is no more than 6A. If that's the case, unplug the chargers. Moreover, be careful when unplugging the arm charger (laptop charger) because the arm will fall so hold it before unplug it.
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