Find example source codes.
open_manipulator_chain on Arduino IDE for OpenCR.
Upload the example source to OpenCR.
When the upload is completed, the following comments are displayed in the log window.
Please check each joint position before running OpenMANIPULATOR-X. It might stop operation because of joint position out of range.
The picture on the below is showing you the ideal pose of OpenMANIPULATOR-X. Please adjust each joints along with the following picture when DYNAMIXEL torque isn’t enabled.
WARNING : Please refer to below default DYNAMIXEL configuration for OpenMANIPULATOR-X chain if you have a custom manipulator.
TIP : If an error of
cmd_read_board_name fail: 0xF020 occurs constantly during upload, please refer to OpenCR e-Manual to enter the firmware recovery mode and upload the source code again after entering mode.
Download Processing from blow link and install.
- Download Processing : https://processing.org/download/
Launch Processing and go to
ControlP5and install it.
Download processing source code for OpenMANIPULATOR.
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_processing.git
WARNING : OpenCR1.0 must be connected to OpenMANIPULATOR-X before launching Processing.
Reset Button of OpenCR1.0 to enable torque for OpenMANIPULATOR-X.
Connect USB cable and power supply to OpenCR1.0.
Turn on the OpenCR1.0 switch.
Reset Buttonof OpenCR1.0 and check DYNAMIXEL’s of OpenMANIPULATOR-X are torque enabled.
Search downloaded processing file from Folder where you downloaded the source code >
Chain.pdeand open it on Processing IDE.
NOTE: Upload OpenCR OpenMANIPULATOR example to OpenCR before running Processing example.
Run the processing source code, and the following graphical GUI will be displayed.
Tip: If the processing console displays an error message and the GUI does not run normally, check the following:
- Check if ControlP5 is properly installed.
- Check if the graphics driver is installed properly.
- Check if the Java library is properly installed.
If you have checked the above and it does not work normally, I recommend running it in a different OS environment (Windows, mac, linux).
NOTE: Upload OpenCR example source code to OpenCR before run processing source code.
The user can use processing program to manipulate the OpenMANIPULATOR.
To manipulate the OpenMANIPULATOR, click the toggle button to
The user can manipulate the OpenMANIPULATOR-X in the joint space.
Set the joint angles. Then click the
SEND JOINT ANGLE button. And set the gripper parameter. Then click the
SET GRIPPER button.
The user can manipulate the OpenMANIPULATOR-X in the task space. Click the
TASK SPACE CONTROL button to change the tab.
Click the desired direction button to manipulate the OpenMANIPULATOR.
The user can make the demonstration using hand guiding function.
- Click the
HAND GUIDINGbutton to change the tab.
- Holds the OpenMANIPULATOR-X by hand and click the toggle button to
- Move the OpenMANIPULATOR-X to the desired pose by hand.
- Click the
SAVE JOINT POSEto save the present pose.
- Repeat step 3 and 4 to create the demonstration.
- Click the toggle button to
- Click the
MOTION STARTbutton to start the saved poses.
Click the toggle button to
MOTION REPEAT ON if you want to repeat the demonstration.
The total time of the trajectory between saved poses is the same as 2 seconds.