Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 82.1 >
edited by Eric Nantel
on 2019/10/17 14:44
To version < 98.1 >
edited by Eric Nantel
on 2019/10/17 15:21
< >
Change comment: There is no comment for this version

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73 73  * Wrist servo along R axis (parallel to elbow to wrist)
74 74  * Gripper servo closed
75 75  
76 -[[image:lss-flowarm-offsets.jpg]]
76 +(% style="width:700px" %)
77 +|(% 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"]]
77 77  
78 78  **LIMP**
79 79  
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122 122  
123 123  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 the wrist rotation servo.
124 124  
125 -[[image:lss-flowarm-side-view.jpg]]
126 +[[image:lss-flowarm-left.png||width="300"]]
126 126  
127 127  **Top View**
128 128  
129 129  The top view shows the arm top down. You can move the arm within this view by clicking on and dragging the wrist rotation servo.
130 130  
131 -**[[image:lss-flowarm-top-view.jpg]]**
132 +**[[image:lss-flowarm-top.png||width="300"]]**
132 132  
133 -=== Shortcuts ===
134 +== Shortcuts ==
134 134  
135 135  **Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
136 136  
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150 150  
151 151  **Gripper**
152 152  
153 -Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. In order to grasp an object, DO NOT have the servo rotate to a position which it cannot reach. In order to ensure the gripper servo does not go into error mode, the gripper should not exert much force on the object.
154 +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.
154 154  
155 -1. Close the gripper to a position just slightly larger than the object
156 -1. Using the arrows, close the gripper until friction between the foam and the object prevent the object from falling out or moving.
157 -1. DO NOT apply too much pressure, or else the servo's current will spike and it will go into error mode and need to be reset.
158 -1. Use the last position as the "fully closed" position for the gripper for that object, in that specific orientation.
156 +[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]
159 159  
160 -[[image:lss-flowarm-gripper-view.jpg]]
161 -
162 162  **Wrist**
163 163  
164 164  The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
165 165  
166 -[[image:lss-flowarm-wrist-view.jpg]]
162 +[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]
167 167  
168 168  **End Effector Position**
169 169  
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171 171  
172 172  When in keyboard mode, there is an overlay indicating which keys do what motion.
173 173  
174 -[[image:lss-flowarm-positioning.jpg]]
170 +[[image:lss-flowarm-positioning.png||alt="lss-flowarm-positioning.jpg"]]
175 175  
176 176  == **Data Log** ==
177 177  
178 178  The optional Data log (normally hidden) can be toggled on or off and allows the user to see all commands being sent to and received from the smart servos. The data can be saved to a file in a Comma Separated Values (.csv) format.
179 179  
180 -[[image:lss-flowarm-data-log.jpg]]
176 +[[image:lss-flowarm-data-log.png||alt="lss-flowarm-data-log.jpg"]]
181 181  
182 182  = Sequencer =
183 183  
184 -[[image:lss-flowarm-sequencer.jpg]]
180 +[[image:lss-flowarm-sequencer.png||alt="lss-flowarm-sequencer.jpg"]]
185 185  
186 186  LSS FlowArm has a powerful pattern sequencer component (normally found only in the full version of FlowBotics Studio) that is used to create reusable patterns within minutes, instead of hours or days.
187 187  
lss-flowarm-data-log.png
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