Changes for page FlowArm LSS
Last modified by Eric Nantel on 2024/07/03 09:39
Change comment: Uploaded new attachment "lss-flowarm-gripper-view-3dof.png", version {1}
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... ... @@ -48,7 +48,6 @@ 48 48 1. Connect the power to the LSS Adapter via the yellow XT60 plug 49 49 1. Power on the robot (On/Off switch) 50 50 1. Start the LSS FlowArm software 51 -1. Select the type of LSS Arm you are using (3 DoF / 4 DoF) 52 52 1. Select the appropriate COM port from the drop-down list & the baudrate (115200) 53 53 1. The software sends a query to servo ID1 and once a reply is received, it determines connection has been established. 54 54 ... ... @@ -79,7 +79,7 @@ 79 79 * Gripper servo closed 80 80 81 81 |(% 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 ** 82 -|(% 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"]]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"]] 83 83 84 84 === Limp === 85 85 ... ... @@ -136,8 +136,9 @@ 136 136 137 137 (% style="width:700px" %) 138 138 |(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm ** 139 -|(% 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"]]138 +|(% style="text-align:center" %)[[image:lss-flowarm-left.png||width="300"]]|(% style="text-align:center" %)[[image:lss-flowarm-left.png||width="300"]] 140 140 140 + 141 141 === Top view === 142 142 143 143 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. ... ... @@ -148,9 +148,7 @@ 148 148 149 149 ◄►: Along X 150 150 151 -(% style="width:700px" %) 152 -|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm ** 153 -|(% 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"]] 151 +[[image:lss-flowarm-top.png||width="300"]] 154 154 155 155 == Shortcuts == 156 156 ... ... @@ -174,16 +174,13 @@ 174 174 175 175 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. 176 176 177 -(% 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"]] 175 +[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]] 180 180 181 181 === Wrist === 182 182 183 183 The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows. 184 184 185 -|(% 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 ** 186 -|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-angle-view.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-view-3dof.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-angle-view-3dof.png||alt="lss-flowarm-wrist-view.jpg"]] 181 +[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]] 187 187 188 188 === End effector position === 189 189
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