Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 146.1 >
edited by RB1
on 2020/01/03 10:42
To version < 162.1 >
edited by Eric Nantel
on 2020/09/10 09:22
< >
Change comment: Uploaded new attachment "lss-flowarm-wrist-angle-view.png", version {1}

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1 -xwiki:XWiki.RB1
1 +xwiki:XWiki.ENantel
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28 28  
29 29  Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
30 30  
31 -{{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"/}}
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"/}}
32 32  
33 33  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]]
34 34  
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75 75  * Wrist servo along R axis (parallel to elbow to wrist)
76 76  * Gripper servo closed
77 77  
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"]]
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" width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-top.png||alt="lss-flowarm-top.png" width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left-3dof.png||alt="lss-flowarm-left-3dof.png" width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-left-3dof.png" width="200"]]
80 80  
81 81  === Limp ===
82 82  
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125 125  
126 126  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.
127 127  
128 -[[image:lss-flowarm-left.png||width="300"]]
130 +Keyboard shortcuts: (W, A, S, D)
129 129  
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 +
130 130  === Top view ===
131 131  
132 132  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.
133 133  
134 -[[image:lss-flowarm-top.png||width="300"]]
144 +Keyboard Shortcuts: Arrow keys (▲▼◄►)
135 135  
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 +
136 136  == Shortcuts ==
137 137  
138 138  **Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
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155 155  
156 156  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.
157 157  
158 -[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]
176 +(% style="width:700px" %)
177 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
178 +|(% 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"]]
159 159  
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"]]
184 +(% style="width:700px" %)
185 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
186 +|(% 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"]]
165 165  
166 166  === End effector position ===
167 167  
lss-flowarm-gripper-view-3dof.png
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