Wireless Handheld Control for the WidowX Robot Arm

Description

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Wireless
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Serial Control
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ArbotiX Commander Control

The PhantomX Reactor Robot Arm can be controlled wirelessly via the ArbotiX Commander. In this demo, the ArbotiX Commander's joysticks will control the position of the arm's end effector.

Users can modify the ArbotiX Robocontroller firmware in a variety of ways. The speed of the servos can be changed and the preset positions can be altered. Users can even trigger digital outputs (like relays) based on ArbotiX Commander input.

Project Parts List

b_200_0_16777215_00__images_tutorials_phantomXTurret_robotTurretCommander.png

Wiring

Connection diagram for ArbotiX Robocontroller to Virtual Commander Connection diagram for ArbotiX Robocontroller to Virtual Commander
Pin Device
XBee Socket XBee Series 1 (Do not plug in until after programming)
DYNAMIXEL Bus DYNAMIXEL Chain
DC Jack SMPS Power Supply, Battery, or other 11-12v power

Download Code:

Download Commander Code for ArbotiX Robocontroller

Load the Commander WidowX Code onto the ArbotiX-M Robocontroller. You will need to plug in your FTDI cable / programming device to program the robocontroller. You cannot program the ArbotiX if the XBee is plugged in, so program the board first, then remove the FTDI cable, and finally plug in the XBee.

If you have problems loading your code onto your ArbotiX-M, see the ArbotiX Getting Started Guide. Also, make sure that you have configured your XBees for use with InterbotiX Kits.

The ArbotiX Commander should be running the stock Commander code that it shipped with. See the ArbotiX Commander Getting Started Guide for more information.

Once loaded onto the Robotic Arm, the code should automatically move the arm to a defalt 'sleep' position.. Now turn on the ArbotiX Commander - the two should automatically connect Once connected, the arm will move to the home position. You can now use the joystics to move the arm's end effector. See below for more information.

Control

Control Diagram for ArbotiX Commander
Cartesian Mode
Walk Joystick(Normal)
  • Horizontal Move arm along X Axis
  • Vertical Move arm along Y Axis
Look Joystick(Normal)
  • Horizontal N/A
  • Vertical Move arm along Z Axis
Cylindrical Mode
Walk Joystick(Normal)
  • Horizontal Move arm along X Axis
  • Vertical Rotate the arm along the base
Look Joystick(Normal)
  • Horizontal N/A
  • Vertical Move arm along Z Axis
Backhoe Mode
Walk Joystick(Normal)
  • Horizontal Rotate the arm along the base
  • Vertical Rotate the dipper (elbow to wrist)
Look Joystick(Normal)
  • Horizontal Rotate the boom(shoulder to elbow)
  • Vertical Rotate bucket curl
All Modes
Look Joystick(While Holding L6)
  • Horizontal Rotate wrist servo
  • Vertical Open/Close Gripper
Look Joystick(While Holding LT)
  • Horizontal Adjust Wrist Angle
Right Buttons
  • RT N/A
  • R3 Toggles Debug Mode
  • R2 Move Arm to its home position
  • R1 Cycle through cartesian, cylindrical, and backhoe modes
Left Buttons
  • LT Enable Wrist Angle Control
  • L6 Enable Gripper and Wrist Rotate control
  • L5 N/A
  • L4 N/A

Code

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PC Control These demos and projects allow the robot to be controlled via a computer.

ArbotiX Commander Control - These demos and projects control the Robot using the ArbotiX Commander, the handheld Arduino based remote control.

Direct Control - These demos and projects control the Robot directly from sensors connected directly to the Robot's control board.

Pose Control - These demos and projects allow you to create and playback a sequence of poses.

Serial Control - These demos and projects control the robot using a serial packet protocol.

Standalone - These demos and projects are deisgned to let your robot function without a computer or additional microcontroller.

Wireless Control - These demos and projects allow you to control the robot wirelessly - usually by replacing the Serial Connection with XBee modules.

Reference - These articles have technical details regarding the control and operation of the robot.

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More info here