/tm_modern_driver

The new driver for the TM5 robot arms from Techman Robot.

Primary LanguageC++Apache License 2.0Apache-2.0

TM Modern Driver

A driver with new joint velocity control for Techman Robot TM5.

Installation

mkdir build
cd build
cmake ..
make

Usage

To start this test program:

$ ./test_tm_driver 192.168.0.10

Connection command

  • input start to connect to techman robot
  • input halt to disconnect to techman robot
  • input quit to exit the program

if the connection is success

  • input datart to print all robot_state_rt once
  • input show to print robot_state cyclic, type 1, 2, ..., 9, 0 to change data type, type q to leave the loop
  • input clear to clear terminal.
  • input emstop to stop immediately. (NOTE: this command need run to restart robot)

Motion API

Absolute Joint position

  • The input joint position argument is radius
movjabs j1 j2 j3 j4 j5 j6

Reference Joint position

  • The input joint position argument is radius
  • This command will set joint psition based on last position.
movjrel j1 j2 j3 j4 j5 j6

Absolute TCP Cartesian position

  • The input cartesian position argument is meter
movlabs x y z a b c

Joint velocity Control

  • Turn on joint velocity control mode : jointspdon
  • Turn off joint velocity control mode : jointspdoff
  • Set joint velocity, the input argument is in rad/s
movjspd v1 v2 v3 v4 v5 v6

NOTE : Joint velocity mode need to turn on before using the command and by turning off to use other motion API

TODO:

  • the usage of all robot commands
  • integrate into ROS indigo package