Michael Huang asked 4 years ago
Currently we are able to passively move the robot arm to selected targets, while someone is holding the robot handle. When looking at the data, we are not getting constant values for variables such as velocity and acceleration, which we presume may be due to someone actually holding on to the handle. Is there a way get the robot arm to move to targets without physically holding the handle. We want to minimize the amount of noise in the signal and produce constant values.
Duncan McLean Staff answered 4 years ago
Hi Michael,
Yes, this is possible. You will need to do 2 things.
First, you will need to disable the brakes. There is a brake by-pass switch on the back of each robot. You can tell if it is in the correct position if the brakes no longer engage when you let go of the handle.
Second, you will need to place something in the path of the proximity sensor. This can be anything really, as long as it stays in place (be careful with tape though, it can gum up the sensor).
Before you try this I’d like to note that this can be dangerous. The brakes and the proximity sensor are there to protect both you and the robot. If the robot moves and there is nothing holding it then very small forces can turn into large velocities in short order.
Also, if you are using the position control block make sure you have selected to account for the inertia of the robot arms – that should give you a cleaner velocity. Please let us know if you do not get the desired result – there can be quite a few reasons for this.
Michael Huang
replied 4 years ago Hi Duncan,
Thank you for replying. I don’t know how to select to account for the inertia of the robot arms. Can you go a little bit on details on how to do that.
Duncan McLeanHi Michael,
Double click on the KINARM_EP_Position_Control Block. Set the value for “Inertias to include for feed-forward control” to “KINARM End Point robot”.
Cheers!