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Handle control robotic arm

1. Hardware connect​

  1. Insert USB receiver into USB interface on Jetson board image-20240701181437244
  2. Install the batteries in the wireless controller and turn the power switch to [ON].

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2. Run handle control program​

Before starting the controller control program, you need to make sure that the APP control program is closed, otherwise it will cause interference.

Run the controller control program

roslaunch jetcobot_ctrl hemihex_joy.launch

image-20240701182827693

3. Key function​

Press the [START] button to activate the handle.

You can now start control the robotic arm. The button functions are shown in the figure below.

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①: Up and down control joint 2, left and right control joint 1.

②: Up and down control joint 3, left and right have no function.

③: Up and down control joint 4, left and right control joint 5.

④: Y A controls joint 7 (gripper), X B controls joint 6.

⑤: L1 controls the robotic arm speed to increase, L2 controls the robotic arm speed to decrease.

⑥: R1 controls the gripper to clamp immediately, R2 controls the gripper to release immediately.

⑦: [SELECT] button controls the robotic arm joint angle to return to the initial position.

[START] activates the handle.

[MODE] mode switch, do not press this button.

Note: When the wireless handle is idle for a few minutes, it will automatically enter the sleep state. At this time, you need to press the [START] button to activate the handle before you can control the robot arm.