2. Obtain the ROS package of the manipulator. Caimbo provides the ROS package of manipulator, including control nodes, drivers, etc.
3. Establish ROS network. Connect the manipulator and the programming workstation to the same ROS network.
4. Start the control node. It is necessary to start two nodes, jointcontrollerinners and jointcontroller, to control each servo-driven motor.
5. Set the workspace through the teaching mode. First, move each joint of the manipulator to a safe position and set the boundary of the workspace.
6. Get the object information. The position, attitude and size information of the object are obtained through the visual sensor.
7. Plan the path. According to the object information and the manipulator model, the optimal path to grab the object from the current pose is calculated by using the path planning algorithm.
8. control the action. According to the planned path, the motor movement of each servo transmission device is controlled to complete the movement process from the current position and attitude to grabbing the object.
9. Grab the object. Adjust the position of the manipulator's finger joints to accurately grasp objects.
10, place the object. Reverse plan the path and place the object in the specified location.