DynaArm Documentation
Quick Start Guide:
Getting Started
Hardware Setup
Software Setup
First Operation
Shutdown
Introduction
Unique Features
Applications
Development Status
Disclaimer
System Overview
Hardware
Electronics
Software
Risk Assessment
Robot Operations:
Setup Controller PC
Prerequisites
General Requirements
Realtime Setup (Hardware Only)
Installing ROS 2 Jazzy
Create Your ROS 2 Workspace
Clone Repositories into Workspace
Option 1 - Automatic Cloning
Option 2 - Manual Cloning
Build the Code / Workspace
Robot Usage
System Startup
Commands
Start the Robot
Monitor System Status
Freedrive
Move to Predefined Positions
Control with a Gamepad
Shutdown Procedure
Debugging
References
Integration Guide:
Integration and Safety
Base Plate Mounting Instructions
End Effector Mounting Instructions
Wiring and Connections
Connectors pinout
Connection procedure
Power Supply Requirements
Recommended Power Supply Specifications
Recommended Wiring
Safety Guidelines
Technical Specifications
Specifications Table
Range of motion
Additional Notes
Risk Assessment
Hazards
Hazard Table
Controllers:
Controllers
BrakeReleaseController
Usage
How does it work ?
Mode: “auto”
Mode: “manual”
Interaction
Mode: “auto”
Mode: “manual”
Parameters
Notes
FreezeController
Usage
Configuration example
Interaction
Parameters
Notes
GravityCompensationController
Usage
Configuration example
Interaction
Parameters
Notes
References
FreeDriveController
Usage
Configuration example
Interaction
Parameters
Notes
ForceTorqueBroadcaster
Usage
Configuration example
Interaction
Parameters
Notes
StatusBroadcaster
Usage
Configuration example
Interaction
Parameters
Notes
PIDTuner
Usage
Configuration example
Interaction
Parameters
Notes
Developer Resources:
Software Components
DynaArm Description
DynaArm Driver
Advanced usage
Index
Actuator configuration
Providing custom configuration for an actuator
Example
DynaArm Demo
1.
Single arm setup
2.
Dual arm setup
duatic_dynaarm_single_example
Content
1. Integrate and extend the dynaarm_description in your own application.
2. How to setup MoveIt2 with the DynaArm in your application.
3. How to configure the description
DynaArm Documentation
Software Components
DynaArm Description
Edit on GitHub
DynaArm Description