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robocup:robotic_arm [2016/02/23 15:12]
nfave [Instructions]
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 :
  
  • robocup/robotic_arm.1456240371.txt.gz
  • Last modified: 2019/04/25 14:08
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