intranet:projects:robot:armtopics
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intranet:projects:robot:armtopics [2017/06/23 16:34] c7031193 |
intranet:projects:robot:armtopics [2018/09/03 19:35] (current) |
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| In order to be able to manipulate the robot by hand to record gesture, follow these steps : | In order to be able to manipulate the robot by hand to record gesture, follow these steps : | ||
| - | - Start the FriOrocos script normally in AUT mode (Spiral) | + | - Start the FriOrocos script normally in AUT mode (Spiral) |
| - | - Start roscore / arm / gripper scripts as indicated previously | + | - Start roscore / arm / gripper scripts as indicated previously |
| - | - Through ROS, switch mode to mode 0 (Monitor mode, that should be acknowledged on the KCP) then switch to mode 30 (mode 101 not working at this date - June 23rd, 2017). You can just adjust the impedance (stiffness/damping) to make the robot more compliant : | + | - Through ROS, switch mode to mode 0 (Monitor mode, that should be acknowledged on the KCP) then switch to mode 30 (mode 101 not working at this date - June 23rd, 2017). You can just adjust the impedance (stiffness/damping) to make the robot more compliant : |
| rostopic pub /real/right_arm/joint_control/set_impedance iis_robot_dep/FriJointImpedance "stiffness: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2] | rostopic pub /real/right_arm/joint_control/set_impedance iis_robot_dep/FriJointImpedance "stiffness: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2] | ||
| damping: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2]" | damping: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2]" | ||
| - | [b]BEWARE !!! If you set the impedance values back to a less compliant system, the arm will try to reach VERY FAST back to its initial position before manipulation. Thus, anything on the path will be damaged !!! Be sure to bring manually the arm back to its starting position to reduce this effect ![/b] | + | **BEWARE !!! If you set the impedance values back to a less compliant system, the arm will try to reach VERY FAST back to its initial position before manipulation. Thus, anything on the path will be damaged !!! Be sure to bring manually the arm back to its starting position to reduce this effect !** |
intranet/projects/robot/armtopics.1498228492.txt.gz · Last modified: 2018/09/03 14:57 (external edit)