arms

HEBI Robotics Kits - Arms

This folder contains examples for controlling arm-type configurations such as the 4-DoF, 5-DoF, and 6-DoF R-Series and X-Series arm kits.

Setup

Load Libraries

These examples make use of a variety of HEBI libraries. In order to load the libraries correctly, please run startup() after starting up MATLAB.

Setup Robot

In order to work with a robot arm, you need to establish communications, and create a matching kinematic model. If you are using a pre-configured kit with the default actuator types as well as default naming conventions, you can simply call setupArm.m in the example.

The kit variable needs to match your system. Currently the following kits are supported:

Kit	Description and Info	Image
'A-2240-06G'	6 - DoF R-Series Arm Kit with Gripper Assembly Instructions
'A-2240-06'	6 - DoF R-Series Arm Kit Assembly Instructions
'A-2240-05G'	5 - DoF R-Series Arm Kit with Gripper Assembly Instructions
'A-2240-05'	5 - DoF R-Series Arm Kit Assembly Instructions
'A-2240-04'	4 - DoF R-Series Arm Kit Assembly Instructions
'A-2085-06G'	6 - DoF Arm Kit with Gripper Assembly Instructions
'A-2085-06'	6 - DoF Arm Kit Assembly Instructions
'A-2085-05G'	5 - DoF Arm Kit with Gripper Assembly Instructions
'A-2085-05'	5 - DoF Arm Kit Assembly Instructions
'A-2085-04'	4 - DoF Arm Kit Assembly Instructions
'A-2084-01'	4 - DoF SCARA Style Arm Kit Assembly Instructions

If you are using different actuator types or non-default configurations, you will need to modify the model to match your system. You can find tutorials on defining custom kinematic structures on the online kinematics documentation. The setupArm.m function should provide a good starting point.

Examples

At the top of each file is a setup section that may expose options for testing different behaviors.

Examples that are dependent on the number of degrees of freedom follow a naming convention with the kit name suffixed. Examples that are applicable to all kits do not have a suffix. They default to using the 4dof kit, so please modify accordingly.

Example	Description
ex_gravity_compensation (video)	Gravity compensation to allow an interactive weight-less mode
ex_impedance_control	Controls the end of the arm with virtual springs and dampers in Cartesian (XYZ) space. Controller can be toggled on/off to allow repositioning.
ex_kinematics_log_analysis	Loads an example .hebilog and .HRDF file to plot arm end-effector tracking / error.
ex_kinematics_visualization	Passive online visualization of the arm’s configuration
ex_mobile_device_control	Remote control of the end-effector of an arm using a mobile device Requires AR-capable Android or iOS device running the HEBI Mobile I/O App. Requires a 6-DoF arm configuration.
ex_teach_repeat	Record waypoints in gravity compensated mode Replay waypoints using trajectories
ex_teach_repeat_w_gripper	Record waypoints in gravity compensated mode Waypoints include ability to toggle a gripper to open/close Replay waypoints using trajectories