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.


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    Titel :

    Implementation of Robot Arm Grasping Function


    Beteiligte:
    Duan, Feng (Autor:in) / Li, Wenyu (Autor:in) / Tan, Ying (Autor:in)

    Erschienen in:

    Intelligent Robot ; Kapitel : 11 ; 253-270


    Erscheinungsdatum :

    22.02.2023


    Format / Umfang :

    18 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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