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  • lss-flowarm-gripper-view.png
  • lss-flowarm-offset-left.png
  • lss-flowarm-offset-top.png
  • lss-flowarm-wrist-view.png

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...	...	@@ -73,7 +73,8 @@
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	133	=== Shortcuts ===
134	134
...	...	@@ -150,20 +150,15 @@
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

lss-flowarm-gripper-view.png

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