drexel_hdt_mk2
Differences
This shows you the differences between two versions of the page.
Next revision | Previous revision | ||
drexel_hdt_mk2 [2016/11/01 11:10] – created dwallace | drexel_hdt_mk2 [2016/11/06 17:21] (current) – dwallace | ||
---|---|---|---|
Line 4: | Line 4: | ||
The HDT arm operating program is working in the computer system which is base on the Linux operating | The HDT arm operating program is working in the computer system which is base on the Linux operating | ||
therefore, before following this tutorial, It is very helpful to be familiar with Linux operation if the user has no experience with Linux. | therefore, before following this tutorial, It is very helpful to be familiar with Linux operation if the user has no experience with Linux. | ||
- | [[Image: | ||
+ | {{dylanw: | ||
- | == How to operating for HDT arm with joystick controller.== | + | ==== How to operating for HDT arm with joystick controller ==== |
=== Step 1. === | === Step 1. === | ||
- | | + | Make sure the workspace of the arm is clear. |
=== Step 2. === | === Step 2. === | ||
- | | + | Turn on power on gantry control box. (labeled |
- | [[Image: | + | |
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
+ | {{dylanw: | ||
=== Step 3. === | === Step 3. === | ||
- | Check the emergency stop is pull out on gantry control box (left top corner -see step2 Pic-) | + | Check the emergency stop is pull out on gantry control box (left top corner -see step2 Pic-) |
and also check another emergency stop which attach on the gantry framework that beside to the door is pulled out. | and also check another emergency stop which attach on the gantry framework that beside to the door is pulled out. | ||
- | [[Image: | ||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
+ | {{dylanw: | ||
=== Step 4. === | === Step 4. === | ||
- | Log onto computer and open up Teamviewer which is a software to remote control the other computer. | + | Log onto computer and open up Teamviewer which is a software to remote control the other computer. |
=== Step 5. === | === Step 5. === | ||
- | Once open the Teamviewer click the ''' | + | Once open the Teamviewer click the **" |
- | [[Image: | + | |
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
+ | {{dylanw: | ||
=== Step 6. === | === Step 6. === | ||
- | Double Click the ''' | + | Double Click the **" |
- | [[Image: | + | |
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
+ | {{dylanw: | ||
=== Step 7. === | === Step 7. === | ||
- | Hit the ''' | + | Hit the **"Power UP"** button on the top of left corner in the online Hubo: Gantry Control Box. |
- | (If the Gantry control box is not opened, Double click the ''' | + | (If the Gantry control box is not opened, Double click the **" |
- | [[Image: | + | |
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
+ | {{dylanw: | ||
=== Step 8. === | === Step 8. === | ||
- | Move the gantry with Xbox controller to desired location. | + | Move the gantry with Xbox controller to desired location. |
| | ||
- | [[Image: | ||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
+ | {{dylanw: | ||
=== Step 9. === | === Step 9. === | ||
- | Before the running the RVIZ that is software for control the HDT arm by joystick, Make sure that the ''' | + | Before the running the RVIZ that is software for control the HDT arm by joystick, Make sure that the **" |
- | * ROS environment setting steps. | + | * ROS environment setting steps. |
- | # Open terminal. | + | |
- | # Type ''' | + | |
- | # Once open it up, ''' | + | |
- | | + | * this part which is placed in the **" |
+ | | ||
=== Step 10. === | === Step 10. === | ||
- | Now, the arm is ready to move by joystick controller. | + | Now, the arm is ready to move by joystick controller. |
The arm joint will be moved by joystick and fingers will be moved by the buttons. | The arm joint will be moved by joystick and fingers will be moved by the buttons. | ||
- | * The Buttons | + | |
- | 8 = Open thumb fingers | + | |
- | 9 = All stop | + | |
- | 10 = Close thumb fingers | + | |
- | 11 = All home(zero position) | + | |
- | 12 = Move thumb - "yaw 90" | + | |
- | [[Image: | + | * |
- | + | {{dylanw: | |
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | + | ||
=== Step 11. === | === Step 11. === | ||
- | When the work is done, | + | When the work is done, |
First turn off the RVIZ program in terminal(Ctrl+C) then close the terminal | First turn off the RVIZ program in terminal(Ctrl+C) then close the terminal | ||
and then gantry should be re-placed where it was very first position before move | and then gantry should be re-placed where it was very first position before move | ||
and then hit all emergency stop buttons | and then hit all emergency stop buttons | ||
- | and finally turn off the power which on the gantry controller box(labeled | + | and finally turn off the power which on the gantry controller box(labeled |
- | + | ==== How to run a motion planning file for the HDT arm. ==== | |
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | == How to run a motion planning file for the HDT arm. == | + | |
=== Step 1. === | === Step 1. === | ||
- | Open up a terminal and type the ''' | + | Open up a terminal and type the **" |
- | and wait until the text which belongs to ''' | + | and wait until the text which belongs to **" |
| | ||
- | [[Image: | ||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
- | |||
+ | {{dylanw: | ||
=== Step 2. === | === Step 2. === | ||
- | Open up a new terminal and type the ''' | + | Open up a new terminal and type the **" |
Once this is launched the arm will begin to move back and forth as shown above picture in the Moveit planner. | Once this is launched the arm will begin to move back and forth as shown above picture in the Moveit planner. | ||
The user can see the arm moving as well as the arm in RVIZ moving back and forth. | The user can see the arm moving as well as the arm in RVIZ moving back and forth. | ||
Line 225: | Line 92: | ||
=== Step 3. === | === Step 3. === | ||
- | To making stop the motion, it is simple. | + | To making stop the motion, it is simple. |
Press the keyboard '''" | Press the keyboard '''" | ||
- | ===Step 4. === | + | === Step 4. === |
- | If a user would like to change the motion, in terminal which open in the step 2, the folder should be changed to the | + | If a user would like to change the motion, in terminal which open in the step 2, the folder should be changed to the |
- | ''' | + | **" |
If the file is open correctly, it seems like the picture which is attached in this section. | If the file is open correctly, it seems like the picture which is attached in this section. | ||
- | [[Image: | ||
+ | {{dylanw: | ||
- | + | === Step 5. === | |
- | + | To change the positioning simply change the parameters in the **"#Goto position 1"**. | |
- | + | ||
- | + | ||
- | + | ||
- | + | ||
- | ===Step 5. === | + | |
- | To change the positioning simply change the parameters in the ''' | + | |
If a user would like to have more than one desired position than add another under it (ie goto position 2, etc). | If a user would like to have more than one desired position than add another under it (ie goto position 2, etc). | ||
- | ===Step 6. === | + | === Step 6. === |
- | If the new positions which a user created is ready to launch, follow the step 1 and 2 again. | + | If the new positions which a user created is ready to launch, follow the step 1 and 2 again. |
drexel_hdt_mk2.1478023833.txt.gz · Last modified: 2016/11/01 11:10 by dwallace