Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 137.2 >
edited by RB1
on 2020/01/03 10:33
To version < 160.1 >
edited by Eric Nantel
on 2020/09/10 09:09
< >
Change comment: There is no comment for this version

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1 +xwiki:XWiki.ENantel
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4 4  
5 5  **Page Contents**
6 6  
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42 -
43 43  {{toc depth="2"/}}
44 44  
45 45  = Description =
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64 64  
65 65  Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
66 66  
67 -{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-articulated-arm/lss-articulated-arm-servo-setup/WebHome/SESV2-LSS-ARTICULATED-ARM-IDS.PNG" width="350"/}}
31 +(% style="width:700px" %)
32 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
33 +|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-4dof-arm/4dof-arm-quickstart/4dof-servo-setup/WebHome/SESV2-LSS-ARTICULATED-ARM-IDS.PNG" width="350"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-3-dof-arm/3dof-arm-quickstart/3dof-servo-setup/WebHome/LSS-3DOF-IDS.PNG?=" width="350"/}}
68 68  
69 69  To do so, the [[LSS Configuration Software>>doc:lynxmotion-smart-servo.lss-configuration-software.WebHome]] is used. Follow the procedure outlined here: [[doc:lynxmotion-smart-servo.lss-configuration-software.lss-config-configure-ids.WebHome]]
70 70  
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111 111  * Wrist servo along R axis (parallel to elbow to wrist)
112 112  * Gripper servo closed
113 113  
114 -(% style="width:700px" %)
115 -|(% 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"]]
80 +|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**LSS - 4 DoF Arm **|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**LSS - 3 DoF Arm **
81 +|(% 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"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left-3dof.png||alt="lss-flowarm-left-3dof.png" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-left-3dof.png" height="300" width="300"]]
116 116  
117 117  === Limp ===
118 118  
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161 161  
162 162  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.
163 163  
164 -[[image:lss-flowarm-left.png||width="300"]]
130 +Keyboard shortcuts: (W, A, S, D)
165 165  
132 +W, S: Up & down
133 +
134 +A, D: Left & right (closer / farther from base)
135 +
136 +(% style="width:700px" %)
137 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
138 +|(% style="text-align:center" %)[[image:lss-flowarm-left.png||width="300"]]|(% style="text-align:center" %)[[image:lss-flowarm-left-3dof.png||alt="lss-flowarm-left.png" width="300"]]
139 +
166 166  === Top view ===
167 167  
168 168  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.
169 169  
170 -[[image:lss-flowarm-top.png||width="300"]]
144 +Keyboard Shortcuts: Arrow keys (▲▼◄►)
171 171  
146 +▲▼: Along Y
147 +
148 +◄►: Along X
149 +
150 +(% style="width:700px" %)
151 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
152 +|(% style="text-align:center" %)[[image:lss-flowarm-top.png||width="300"]]|(% style="text-align:center" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-top.png" width="300"]]
153 +
154 +
172 172  == Shortcuts ==
173 173  
174 174  **Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
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191 191  
192 192  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.
193 193  
194 -[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]
177 +(% style="width:700px" %)
178 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
179 +|(% style="text-align:center" %)[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]|(% style="text-align:center" %)[[image:lss-flowarm-gripper-view-3dof.png||alt="lss-flowarm-gripper-view.jpg"]]
195 195  
181 +
196 196  === Wrist ===
197 197  
198 198  The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
199 199  
200 -[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]
186 +(% style="width:700px" %)
187 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
188 +|(% style="text-align:center" %)[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center" %)[[image:lss-flowarm-wrist-view-3dof.png||alt="lss-flowarm-wrist-view.jpg"]]
201 201  
190 +
202 202  === End effector position ===
203 203  
204 204  The position of the end effector can be controlled either by manually entering the information for R (radius), or the Cartesian x, y, z coordinates, or using the arrows.
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374 374  
375 375  = Notifications =
376 376  
377 -(% style="width:1300px" %)
366 +(% style="width:1037px" %)
378 378  |(% style="text-align:center; width:450px" %)**Displayed Error**|(% style="text-align:center; width:100px" %)**LED Status**|(% style="text-align:center" %)**Informations**
379 379  |{{lightbox image="lss-flowarm-notification-limp.png"/}}|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle" %)(((
380 380  [[image:LSS-UserColor.png||alt="LSS-Error-SafeMode.gif"]]
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