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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    Title :

    Implementation of Robot Arm Grasping Function


    Contributors:
    Duan, Feng (author) / Li, Wenyu (author) / Tan, Ying (author)

    Published in:

    Intelligent Robot ; Chapter : 11 ; 253-270


    Publication date :

    2023-02-22


    Size :

    18 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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