Intelligent service robots often have to help their owners grasp, deliver and transport items, which requires a corresponding robotic arm to do so. The robot in this book uses the Turtlebot-Arm as a robotic arm. This chapter will guide the reader step-by-step on how to use the USB2Dynamixel to control the Turtlebot-Arm robotic arm, starting with the basics of hardware assembly, kinematic analysis, and servo ID settings for this robotic arm, and then detailing how to install and test the dynamixel_motor package under ROS and implement the robotic arm grasping function. This chapter is the basis for implementing the robot to grasp objects in a later chapter and needs to be carefully understood and mastered.
Implementation of Robot Arm Grasping Function
Intelligent Robot ; Kapitel : 11 ; 253-270
22.02.2023
18 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch