Warning

Important Notice: The DynaArm is currently a prototype and not ready for commercial use. It is intended solely for research and development purposes. Users are responsible for ensuring safe operation during its use.

Robot Usage

This section provides instructions for operating the DynaArm, including preparation, startup, basic commands, and shutdown procedures.

System Startup

  1. Mount the Robot:

    • Ensure the DynaArm is securely mounted on a stable and solid base. This prevents unwanted movement during operation.

    • The mounting position must ensure the robot cannot fall over during use.

  2. Ethercat Connection:

    • Verify that the Ethercat cable is securely connected to the Controller PC.

    • Check for any loose connections or damaged cables.

  3. Inspect All Cables:

    • Confirm that all cables are correctly connected and show no signs of damage.

    • Replace any damaged cables before proceeding.

  4. Connect and Power On:

    • Attach the power supply to the DynaArm.

    • Power on the system and observe the indicator lights for diagnostics:

      • Normal Operation: Indicator lights blink in a steady sequence.

      • Error Detected: Lights may blink rapidly or remain solid. Refer to the troubleshooting section for details.

Note

The DynaArm may move slightly when activating. Ensure the workspace is clear of obstructions.

Commands

This section provides essential commands for operating the DynaArm in both mock and real hardware modes.

Start the Robot

If you have downloaded the dynaarm_examples repository, you can start the robot in mocked mode or in real mode. In both modes, the robot launches into freeze control.

Note

Ensure that your workspace is sourced before running the robot commands.

Mock Mode

Start the robot with mocked hardware:

ros2 launch dynaarm_examples mock.launch.py

Real Hardware

Start the robot with real hardware:

ros2 launch dynaarm_examples real.launch.py ethercat_bus:=enp86s0

Arguments (Mock & Real)

  • gui - flag to enable joint_state_publisher_gui.

    • Valid choices: True, False

    • Default: True

  • dof - select the desired degrees of freedom (DoF).

    • Valid choices: 1, 2, 3, 4, 5, 6

    • Default: 6

  • covers - show or hide the covers of the robot.

    • Default: False

  • version - select the desired version of the robot.

    • Valid choices: arowna4, baracuda12

    • Default: baracuda12

Arguments (Real Only)

  • ethercat_bus - select your connected interface

    • Default: enp86s0

Monitor System Status

Check the status of the DynaArm, including joint positions

ros2 topic echo /dynaarm_status_controller/state

Freedrive

To freely move the robot around, activate the freedrive_controller, ensuring that any conflicting controllers, such as the freeze_controller, are deactivated:

ros2 control switch_controllers --activate freedrive_controller --deactivate freeze_controller

Once enabled, you can manually move the robot by guiding it with your hands.

Control with a Gamepad

With the gamepad interface active, you can control the robot’s movement using the connected gamepad.

  1. Ensure that your gamepad is connected to the computer.

  2. Activate the joint_trajectory_controller, ensuring that any conflicting controllers are deactivated as needed:

ros2 control switch_controllers --activate joint_trajectory_controller --deactivate freedrive_controller

To launch the gamepad interface:

ros2 launch dynaarm_gamepad_interface gamepad_interface.launch.py

The following functions are available:

Table 2 Basic Button Commands

Control

Function

L1 (Left Shoulder)

Acts as the “deadman_switch”. It must be pressed to enable movement.
Table 3 Joint Trajectory Button Commands

Control

Joint Name

Left Joystick X-Axis

shoulder_rotation

Left Joystick Y-Axis

shoulder_flexion

Right Joystick Y-Axis

elbow_flexion

Right Joystick X-Axis

forearm_rotation

L2 (Left Trigger) / R2 (Right Trigger)

wrist_flexion

Left Joystick Press / Right Joystick Press

wrist_rotation

Shutdown Procedure

  1. Prepare the Robot:

    • Move the DynaArm to a defined position where it cannot fall over when powered off.

    • If possible, physically support the arm or secure it in a safe position.

  2. Terminate the DynaArm Software:

    • Shut down the dynaarm software by terminating the process (e.g., pressing Ctrl+C once).

    • Important: Avoid pressing Ctrl+C multiple times, as it may disrupt the Ethercat communication improperly.

  3. Power Off the System:

    • Once the software is safely shut down, disconnect the power supply from the DynaArm.

    • Ensure the system is fully powered off before handling the robot further.

Warning

The DynaArm may fall if these steps are not followed carefully. Always secure the robot before shutting down the system.