Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39

From version < 166.1 >
edited by Eric Nantel
on 2020/09/10 09:27
To version < 157.1 >
edited by Eric Nantel
on 2020/09/10 09:05
< >
Change comment: Upload new image "lss-flowarm-left-3dof.png", version 1.2

Summary

Details

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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.
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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  
lss-flowarm-wrist-angle-view-3dof.png
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lss-flowarm-wrist-angle-view.png
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