QB Robotics qbmove Advanced Kit, User Manual

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86
28 aprile 2021
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time: [4.0]
joint_positions:
<device_name>: [0.5, 0.0]
joint_velocities:
<device_name>: [-0.5, 0.0]
-
...
6.5.2.7 API control
If you need a complex (i.e. real) control application, e.g. the qbmove is mounted on a robot which
uses computer vision aid to grasp objects, the previous two control modes don't really help
much. What we provide for real applications is the full ROS libraries to manage and control
the
qbmove .
You must dig into the qb_move package documentation and find what better suits for your
needs, e.g. extend the qbDeviceControl class provided, or even redesign some of its parts
by following an approach similar to ours.
IMPORTANT
Our recommendation is to use as much as possible our resources, classes
and macros to help you while developing your application. Don't reinvent
the wheel!
At last, if you come up with a something useful for the whole community, it will be amazing if
you propose your improvement with a Pull Request in the package of interest on
our Bitbucket .
6.5.3 Delta robot and open kinematic chains examples
When using the ROS packages with a Delta Kit or a Base Kit with specific accessories, it is possible
to exploit the specific aids provided by qbrobotics to help in some quicker kinematic structure
control. We have developed several solutions that allow you to easily use the Delta robot or the
kinematic configurations that are described in the section
5 . In order to use our ROS solutions,
it is necessary to set the qbmove IDs properly.
IMPORTANT
In order to use our ROS examples for the kinematic chains, you have to set
the qbmove IDs from the bottom (ID 1) to the gripper (ID 4).
This procedure can be done by connecting each qbmove to a computer and using the dedicated
GUI .