UFactory xArm 5, Руководство пользователя, Страница: 143 / 182

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4. When planning the path for the robotic arm, the risk
assessment must be done and the operator should be
cautious.
2.1.2 Analysis of Robotic Arm Movement Mode
4 motion modes of the control box: (Python SDK: set_mode ())
● Mode 0: Position control mode.
In this mode, the robotic arm can execute a series of motion commands
(joint motion, linear motion, circular motion, etc.) automatically planned
by the control box, which is also the mode that the control box enters by
default after startup.
● Mode 1: Servoj mode.
In this mode, the robotic arm can accept joint position commands sent at a
fixed high frequency like 100Hz (Note: not a Cartesian commands). The
robotic arm responds immediately after receiving each commands and
executes at the maximum speed. If the user can complete the planning of
the motion trajectory with smooth speed and acceleration and map it to the
joint space, the servoj mode can replace the planning of the control box,
and let xArm execute the user's own or third-party (such as ROS Moveit!)
planning algorithm. Do not use this mode if users cannot implement
trajectory planning and inverse kinematics by themselves.
● Mode 2: Joint teaching mode.
In this mode, the robotic arm will enter the zero gravity mode, and the user
can freely drag the links of the robotic arm to complete the teaching
function. If the drag teaching is completed, switch back to mode 0.
*Note for safe use: Before turning on the joint teaching mode, be sure to confirm that
the installation direction of the robotic arm and the TCP load are set correctly,
otherwise the arm may not be able to remain stationary due to inaccurate gravity
compensation!*