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Professional
Microsoft Robotics Developer Studio
Robotic arms require quite a different approach compared to wheeled mobile robots. This chapter explains how to control a Lynxmotion L6 Robotic Arm.
The corresponding simulation service for the Lynx 6 Arm is available in Chapter 8. There are VPL programs in Chapter 12 for both the real and simulated arms that allow you to use an Xbox controller to move the arm.
This Chapter contains the following applications:
Replacement services for the Lynx 6 Arm and SSC-32 Controller are also included with this chapter. The Lynx 6 Arm service does not have a GUI. You can test it using the Dashboard by running RunLynx6Arm.cmd. However, it is better to use the Motion Recorder because it has a much more useful interface than the Dashboard.
The Motion Recorder works with either the simulated arm or the real arm. However, when used with the simulated arm it imposes limits on the motion of the arm to match the real arm and therefore cannot operate over the entire range of the simulation. Also, there are a couple of subtle differences. In particular, the simulated gripper has some trouble if you squeeze an object too hard and you might lose control of the object.
The following is a screen shot of the Motion Recorder GUI. Click on the screen shot for a larger version.
This code is available free of charge for non-commercial use. Please see the licence agreement.
The Lynxmotion services were modified with the permission of Lynxmotion. To avoid conflicts, the services in this chapter have new contract identifiers and namespaces.