Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 132.1 >
edited by Eric Nantel
on 2019/10/18 10:52
To version < 89.1 >
edited by Eric Nantel
on 2019/10/17 14:58
< >
Change comment: Upload new image "lss-flowarm-offset-top.png", version 1.1

Summary

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8 8  
9 9  = Description =
10 10  
11 -The LSS FlowArm application is intended to allow easy control of the standard Lynxmotion Servo Erector Set (S.E.S.) v2 articulated robotic arm. The graphical interface shows multiple views of the arm which can be controlled via drag and drop, as well as by manually inputting coordinates. The full-featured built-in sequencer allows you create sequences which have the arm move automatically from one position ("frame") to the next. Make use of the "teach mode" to position the arm where you want and record frames which can be modified and played back. Associating each pattern with input keys means you can easily play back and test multiple sequences.
11 +The LSS FlowArm application is intended to allow easy control of the standard Lynxmotion Servo Erector Set (S.E.S.) v2 articulated robotic arm. The graphical interface shows multiple views of the arm which can be controlled via drag and drop, as well as by manually inputting coordinates. The full-featured built-in sequencer allows you create sequences which have the arm move automatically from one position ("frame") to the next. Make use of the "teach mode" to position the arm where you want and record frames which can be modified and played back. Associating each pattern with input keys means you can easily play back and test multiple sequences.
12 12  
13 13  FlowBotics Studio was used to create this app and includes hundreds of built-in components that allow you to interface your PC to many standard computer peripherals and robotics components, and you can quickly design new components for new hardware. Easily create new projects with custom GUI screens, knobs, buttons, switches, etc. that will run live from within FlowBotics Studio without needing to wait for compilation, or export as stand-alone executable files. FlowBotics Studio includes a powerful graphics engine that allows you to make custom graphical objects by using standard bitmaps or by drawing your own shapes on the screen. Using this system, you can build entirely custom interfaces like this one for your projects and integrate photographs, drawings, and graphs.
14 14  
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55 55  
56 56  = Interface =
57 57  
58 -Following are informations regarding the user interface of LSS FlowArm.
59 -
60 60  == Header ==
61 61  
62 62  [[image:lss-flowarm-header.png||alt="lss-flowarm-header"]]
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67 67  
68 68  **STORE OFFSETS**
69 69  
70 -The "STORE OFFSETS" button configures all of the servo offsets (this makes use of the CO command as part of the [[LSS Communication Protocol>>doc:lynxmotion-smart-servo.lss-communication-protocol.WebHome]]). Before pressing the button, orient the arm as shown below (with the gripper closed), and only then click the STORE OFFSETS button. This setup only need to be done once when first setting up the arm.
68 +The "STORE OFFSETS" button configures all of the servo offsets (this makes use of the CO command as part of the [[LSS Communication Protocol>>doc:lynxmotion-smart-servo.lss-communication-protocol.WebHome]]). Before pressing the button, orient the arm as shown below (with the gripper closed), and only then click the STORE OFFSETS button.
71 71  
72 72  * Base servo aligned with the x axis
73 73  * Shoulder to elbow along z axis (straight up)
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76 76  * Gripper servo closed
77 77  
78 78  (% style="width:700px" %)
79 -|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left.png||alt="lss-flowarm-left.png" height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-top.png||alt="lss-flowarm-top.png" height="300" width="300"]]
77 +|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-left.png||height="300" width="301"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-top.png||height="300" width="300"]]
80 80  
81 81  **LIMP**
82 82  
83 83  Causes all servos to slowly go LIMP (i.e. lose torque), gradually loosing torque until hitting the ground. It's important to note that the software will not constantly query all servos for their position, and as such the virtual arm on screen will not update frequently if at all. If you want the virtual arm on screen to update as you move the real arm, use TEACH mode described below.
84 84  
85 -**HALT & HOLD**
83 +**STOP**
86 86  
87 87  Causes all servos to immediately stop their motion and hold their position.
88 88  
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123 123  
124 124  **Side View**
125 125  
126 -The left view is a representation of the arm, where the orange circles represent the location of each axis of rotation. You can move the arm in this view by clicking on and dragging anywhere in that side view screen.
124 +The left view is a representation of the arm, where the orange circles represent the location of each axis of rotation. You can move the arm in this view by clicking on and dragging the wrist rotation servo.
127 127  
128 -[[image:lss-flowarm-left.png||width="300"]]
126 +[[image:lss-flowarm-side-view.jpg]]
129 129  
130 130  **Top View**
131 131  
132 -The top view shows the arm top down. You can move the arm within this view by clicking on and dragging the dot right next to the gripper.
130 +The top view shows the arm top down. You can move the arm within this view by clicking on and dragging the wrist rotation servo.
133 133  
134 -**[[image:lss-flowarm-top.png||width="300"]]**
132 +**[[image:lss-flowarm-top-view.jpg]]**
135 135  
136 -== Shortcuts ==
134 +=== Shortcuts ===
137 137  
138 138  **Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
139 139  
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153 153  
154 154  **Gripper**
155 155  
156 -Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. We added a feature where the servo stop when it feel a current raising, this allows the user to ask for a full close and have a good grip on the item picked.
154 +Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. In order to grasp an object, DO NOT have the servo rotate to a position which it cannot reach. In order to ensure the gripper servo does not go into error mode, the gripper should not exert much force on the object.
157 157  
158 -[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]
156 +1. Close the gripper to a position just slightly larger than the object
157 +1. Using the arrows, close the gripper until friction between the foam and the object prevent the object from falling out or moving.
158 +1. DO NOT apply too much pressure, or else the servo's current will spike and it will go into error mode and need to be reset.
159 +1. Use the last position as the "fully closed" position for the gripper for that object, in that specific orientation.
159 159  
161 +[[image:lss-flowarm-gripper-view.jpg]]
162 +
160 160  **Wrist**
161 161  
162 162  The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
163 163  
164 -[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]
167 +[[image:lss-flowarm-wrist-view.jpg]]
165 165  
166 166  **End Effector Position**
167 167  
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169 169  
170 170  When in keyboard mode, there is an overlay indicating which keys do what motion.
171 171  
172 -[[image:lss-flowarm-positioning.png||alt="lss-flowarm-positioning.jpg"]]
175 +[[image:lss-flowarm-positioning.jpg]]
173 173  
174 174  == **Data Log** ==
175 175  
176 176  The optional Data log (normally hidden) can be toggled on or off and allows the user to see all commands being sent to and received from the smart servos. The data can be saved to a file in a Comma Separated Values (.csv) format.
177 177  
178 -[[image:lss-flowarm-data-log.png||alt="lss-flowarm-data-log.jpg"]]
181 +[[image:lss-flowarm-data-log.jpg]]
179 179  
180 180  = Sequencer =
181 181  
182 -[[image:lss-flowarm-sequencer.png||alt="lss-flowarm-sequencer.jpg"]]
185 +[[image:lss-flowarm-sequencer.jpg]]
183 183  
184 184  LSS FlowArm has a powerful pattern sequencer component (normally found only in the full version of FlowBotics Studio) that is used to create reusable patterns within minutes, instead of hours or days.
185 185  
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336 336  
337 337  If another sequence is associated with that input, it will then play Playback Control. You can change the speed of playback by changing the speed multiplier. Click the up and down arrows to alter this. Normally a sequence plays to the end then stops. However, sometimes you want a sequence to repeat. You can toggle this by clicking the Loop button.
338 338  
339 -= Notifications =
340 -
341 -(% style="width:1300px" %)
342 -|(% style="text-align:center; width:450px" %)**Displayed Error**|(% style="text-align:center; width:100px" %)**LED Status**|(% style="text-align:center" %)**Informations**
343 -|{{lightbox image="lss-flowarm-notification-limp.png"/}}|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle" %)(((
344 -[[image:LSS-UserColor.png||alt="LSS-Error-SafeMode.gif"]]
345 -
346 -User Defined
347 -)))|User clicked on the "LIMP" button or FlowArm noticed an error and put the arm in "LIMP" by himself.
348 -|{{lightbox image="lss-flowarm-notification-firmware.png"/}}|(((
349 -FlowArm noticed an earlier firmware version which is not compatible (SERVO 1 in this example).
350 -
351 -* As suggested, use the LSS-Config software to update the servo(s)
352 -)))
353 -|{{lightbox image="lss-flowarm-notification-current.png"/}}|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle" %)(((
354 -[[image:LSS-Error-SafeMode.gif]]
355 -
356 -Red Flashing
357 -)))|(((
358 -FlowArm noticed a high current error on the specified servo (SERVO 4 in this example)
359 -
360 -* Verify that noting is in the way of the servo that can block it's movement.
361 -* Try to "RELEASE SERVOS" which will "RESET" the servo(s) in error.
362 -)))
363 -|{{lightbox image="lss-flowarm-notification-temperature.png"/}}|(((
364 -FlowArm noticed a high temperature error on the specified servo (SERVO 5 in this example).
365 -
366 -* Let it cool down for a minute.
367 -* Try to "RELEASE SERVOS" which will "RESET" the servo(s) in error.
368 -)))
369 -
370 370  = Troubleshooting =
371 371  
372 372  If you encounter any bugs or issues when installing or using the LSS FlowArm application, please submit a new post on the Lynxmotion community sub-forum here: [[https:~~/~~/www.robotshop.com/community/forum/c/lynxmotion/electronics-software>>url:https://www.robotshop.com/community/forum/c/lynxmotion/electronics-software]]
345 +
346 +{Work in progress}
LSS-Error-SafeMode.gif
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