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

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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

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

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