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Intera 3.2
Create a Path for Baxter
6. Manually position Baxter’s arm and end effectors in the pose you want to add.
7. Press the round action button on the training cuff to set the new pose.
8. Repeat for each new waypoint. Changes are saved automatically.
9. When done, press the Back button.
Suggestion: Use Practice to run through the path to check the new pose.
NOTE: You may find that some locations or poses will be invalid. That means the location or pose
cannot be performed by Baxter because it’s near a joint limit. On the Task Map this would show up
as a grayed out icon. On the screen, Baxter displays the message, “Add pose failed.”
Motion Presets
Motion presets define how Baxter's arm follows a path's waypoints. These presets will help Baxter
complete a wider variety of tasks.
There are three types of presets:
•
Balanced (“best of both worlds”) - The default preset. This is the way Baxter has
followed waypoints along its path in the past. (If you upgrade a task from a
previous version of the software, this is the preset that will be selected.)
•
Explicit (“more precise but slower”) - Baxter will follow the waypoints closely, and
in a controlled manner (that is, more closely and controlled than either the
Balanced or Express presets.) This preset would be a good choice for machine
tending tasks.
•
Express (“faster but less precise”) - Baxter will use the path's waypoints more as
a guide to follow rather than as a specific target to hit. With this preset, Baxter is
optimized to complete its actions faster than the other presets. Use this preset
when cycle time is paramount and repeatability or precision is not critical.
You set presets at the task level, as you do for signals, counts, and advanced settings, but you also
have the option of overriding the preset at the action level (i.e., pick, place, or hold).
How to Change Motion Presets at the Task/Arm Level
1. From the Task Order screen, highlight the training icon
for either arm.
