18
3.2
Example
The ROBOTIS Manipulator SDK offers 5 examples.
1)
ArmMonitor01:
Outputs the current position and goal position of the
Manipulator’s joint, Pose and Joint Parameter (Velocity, Acceleration, Position P,
I, D Gain, Velocity P, I Gain) of the End Effector in the terminal window for
viewing and enables users to adjust this value.
2)
ArmMonitor02:
Has the same functions as
ArmMonitor01, and also allows
direct control of the End Effector. When controlling the End Effector, Inverse
Kinematics (ComputeIK function) moves each Joint using Solution position
(rad).
3)
SimplePtoP:
This example enables the End Effector to move points P1 and P2
4)
SimpleIK:
This example enables users to control the pose of the
End Effector,
and can control the end effector’s Position (X, Y, Z), Orientation (Roll, Pitch,
Yaw) with a with keys.
5)
SimpleTorqueOnOffandFK:
Turns the
manipulator’s joints’ torque On/Off.
When the Torque Off→On Forward Kinematics runs and outputs all joints pose
(Rad_ and end effector’s Position and Orientation.
The examples in this Quick Start are based on SimplePtoP. Please refer to the User
Manual for details and usage on the other examples and source codes.
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