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Practice of Robot Motion Programming

ロボットモーションの作成練習

Abstract 概要
We use a (kinematics) simulation to learn robot programming.

Tutorials †

Learning ay_trick
ay_trick is a useful framework to build integrated robotic applications. It provides a CUI interface to execute scripts and commands where you are released from the bothering ROS setup; once they have established, you can keep using the connection. Goal: Complete [Basic] levels of this tutorial.
Kinematic Simulation
Robot developers test the robot motions in simulation before executing them on real systems. Dynamic simulation provides realistic results, but uses much computation resource. Kinematic simulation just creates kinematic motions virtually where dynamics are not considered, but is much faster. This tutorial provides a guide of kinematic simulations of Motoman, Mikata Arm, etc. Goal: Complete [Basic] levels of this tutorial with Mikata Arm (rotated wrist).
Step-by-step Robot Control with ay_trick
In this tutorial, we learn robot control with the ay_trick framework. You will learn basic control of a robot including joint space control, task space control, trajectory control, and forward and inverse kinematics. We use Kinematic Simulation; i.e. you do not need to have a real robot. Goal: Complete this tutorial with Mikata Arm.
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Summary †

After completing these tutorials, you will be able to do:

Launch the kinematic simulator of Mikata Arm (rotated wrist):

$ roslaunch ay_util mikata_rot_ksim.launch

Configure RViz to display the robot arm.

Launch CUITool of ay_trick:

$ rosrun ay_trick cui_tool.py

Setup the robot on CUITool:

> robot 'mikatas'

Control the robot from CUITool:

> moveq [0.2]*7, 2.0

Control the robot with your ay_trick Script:

> your_dir.your_script

The motion of Mikata Arm will be displayed in RViz.





Last-modified:2018-08-27 (Mon) 02:21:08 (2488d)
Link: project/FingerVision/Hackathon-Fall-2018/Tutorial(2477d) project/FingerVision/Hackathon-Fall-2018(2477d)
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