Welcome to the ART- Humanoid Robotic Arm Documentation!

User Manual

• ART3-R7
  • 1. Preface
    • 1.1. Reading Tip
    • 1.2. Product Usage Instructions
    • 1.3. Disclaimer
    • 1.4. Warranty
    • 1.5. Danger, Warning, Caution Use
  • 2. Unboxing, Handling, Installation, and Activation Instructions
    • 2.1. Unboxing
    • 2.2. Handling
    • 2.3. Install and fix
      • 2.3.1. Ontology Installation and Fixation
      • 2.3.2. Controller and brancher
    • 2.4. Storage Location and Usage Environment
      • 2.4.1. Storage place
      • 2.4.2. Operating Environment
    • 2.5. Enable
  • 3. Product Introduction
    • 3.1. Product dimensions
    • 3.2. Nameplate information
    • 3.3. Technical Specifications
    • 3.4. Joint Definition
    • 3.5. Range of motion
    • 3.6. DH Parameters and Coordinate System
    • 3.7. Tool flange size
    • 3.8. Robot load curve (simulation)
      • 3.8.1. Overview
      • 3.8.2. Load curve
        • 3.8.2.1. Parameter Description
        • 3.8.2.2. Load curve at 30% operating speed
        • 3.8.2.3. Load curve at 50% operating speed
        • 3.8.2.4. Load curve at 80% operating speed
        • 3.8.2.5. Load curve at 100% operating speed
    • 3.9. Robot load curve (actual machine)
      • 3.9.1. Overview
      • 3.9.2. Load curve
        • 3.9.2.1. Parameter Description
        • 3.9.2.2. ART3-R7负载曲线
  • 4. Wiring
    • 4.1. Wiring Precautions
    • 4.2. System wiring
    • 4.3. Host computer debugging wiring
  • 5. ROS2 Interface Instructions
    • 5.1. Overview
    • 5.2. Start of ros2 control plugin
    • 5.3. ROS2 Control Interface Documentation
    • 5.4. Using Remote Desktop
    • 5.5. ART3_R7 SDK User Guide
• ART7-R7
  • 1. Preface
    • 1.1. Reading Tips
    • 1.2. Product Usage Instructions
    • 1.3. Disclaimer
    • 1.4. Warranty
    • 1.5. Danger, Warning, Caution in Use
  • 2. Unpacking, Handling, Installation and Commissioning Instructions
    • 2.1. Unpacking Inspection
    • 2.2. Repost
    • 2.3. Installation and Fixing
      • 2.3.1. Main Body Installation and Fixation
      • 2.3.2. Controller and Splitter
    • 2.4. Storage Location and Operating Environment
      • 2.4.1. Storage Location
      • 2.4.2. Operating Environment
    • 2.5. Enable
  • 3. Product Introduction
    • 3.1. Product Dimensions
    • 3.2. Nameplate Information
    • 3.3. Technical Specifications
    • 3.4. Joint Definition
    • 3.5. Range of Motion
    • 3.6. DHParameters and Coordinate Systems
    • 3.7. Tool Flange Dimensions
    • 3.8. 3D Model
  • 4. Wiring
    • 4.1. Wiring Precautions
    • 4.2. System Wiring
    • 4.3. Host PC Debugging Wiring
• ROS2 Driver
  • 1. Plugin Overview
  • 2. Status Dashboard and Instructions
    • 2.1. Status Dashboard
    • 2.2. Command Server
  • 3. Debugging Tools
    • 3.1. Debugging tool launched
    • 3.2. Configuration Tool Usage
• SDK
  • 1. SDK Server Deployment and Startup
    • 1.1. SDK server startup
  • 2. SDK Client Dynamic Library Usage
  • 3. SDK Function Introduction
    • 3.1. Introduction to the Robotic Arm SDK Functions
      • 3.1.1. Instantiate the robotic arm
      • 3.1.2. Turn off the robotic arm
      • 3.1.3. Joint-space motion
      • 3.1.4. Joint-Space Motion Code Example – Single Arm
      • 3.1.5. Joint-Space Motion Code Example – Dual-Arm
      • 3.1.6. Cartesian space point-to-point motion
      • 3.1.7. Linear motion in Cartesian space
      • 3.1.8. Cartesian Space Linear Motion Code Example – Single Arm
      • 3.1.9. Cartesian Space Linear Motion Code Example – Dual-Arm
      • 3.1.10. Circular Arc Motion in Cartesian Space
      • 3.1.11. Cartesian Space Arc Motion Code Example – Single Arm
      • 3.1.12. Cartesian Space Arc Motion Code Example – Dual-Arm
      • 3.1.13. Servo motion starts
      • 3.1.14. Servo motion ended
      • 3.1.15. Joint-space servo mode motion
      • 3.1.16. Cartesian space servo motion
      • 3.1.17. Joint-space servo mode motion – single arm
      • 3.1.18. Joint-space servo mode motion—dual-arm
      • 3.1.19. Stop exercising
      • 3.1.20. Pause exercise
      • 3.1.21. Resume exercise
      • 3.1.22. Clear motion command queue
      • 3.1.23. Multi-point joint-space motion
      • 3.1.24. Multi-point joint-space motion
      • 3.1.25. Robot Arm Returning to Home Position
      • 3.1.26. Jog Start
      • 3.1.27. Jogging ends
      • 3.1.28. Start Singular Pose Protection
      • 3.1.29. Disable Singular Pose Protection
      • 3.1.30. Set Tool Coordinate System
      • 3.1.31. Set robotic arm acceleration percentage
      • 3.1.32. Set Global Speed Percentage
      • 3.1.33. Forward Kinematics Solution
      • 3.1.34. Inverse Kinematics Solution
      • 3.1.35. Inverse Kinematics Solution (Reference Position)
      • 3.1.36. Get current joint position (angle)
      • 3.1.37. Obtain the current tool pose
      • 3.1.38. Check whether the robotic arm movement is completed
      • 3.1.39. Get current end-effector velocity
      • 3.1.40. Obtain joint torque
      • 3.1.41. Obtain joint actuator torque
      • 3.1.42. Query Robot Error Codes
      • 3.1.43. Check whether the robot is singular
      • 3.1.44. Obtain Robot DH Parameter Compensation Values
      • 3.1.45. Joint Enable
      • 3.1.46. Joint Disable
      • 3.1.47. Joint Zero Calibration
      • 3.1.48. Clear Controller Errors
      • 3.1.49. Set Load Weight and Center of Gravity(OnlyJK2.0Robotic Arm Use)
      • 3.1.50. Set joint friction compensation switch(onlyJK2.0manipulator use)
      • 3.1.51. Set joint friction compensation coefficient(onlyJK2.0manipulator use)
      • 3.1.52. Set robotic arm soft limit protection switch ( only JK2.0 robotic arm use )
      • 3.1.53. Set current loop teaching drag ( only JK2.0 robotic arm use )
      • 3.1.54. Set Joint Torque Force Sensor Drag Teaching ( Only JK2.0 Robotic Arm Use )
      • 3.1.55. Get whether in drag-teaching mode(OnlyJK2.0robot arm uses)
      • 3.1.56. Enable collision detection(onlyJK2.0for robotic arm use)
      • 3.1.57. Set Collision Level ( Only JK2.0 Robotic Arm Uses )
      • 3.1.58. Set Collision Response Strategy(OnlyJK2.0Robot Arm Use)
      • 3.1.59. Set Joint Torque Sensor Zero Calibration ( Only JK2.0 Robotic Arm Use )
      • 3.1.60. Set Robot Installation Angle(OnlyJK2.0Robotic Arm Use)
      • 3.1.61. Obtain robot installation angle(OnlyJK2.0manipulator use)
      • 3.1.62. Obtain the current end-effector flange pose
      • 3.1.63. Set the robotic arm’s positive limit
      • 3.1.64. Set the mechanical arm’s negative limit
      • 3.1.65. Obtain joint soft limit angles
      • 3.1.66. Retrieve the robotic arm firmware version
      • 3.1.67. Robot Control Authority Settings
      • 3.1.68. Acceleration Smooth Start
      • 3.1.69. Acceleration smoothing disabled
      • 3.1.70. Specify joint to enter drag / position mode
      • 3.1.71. Set Workpiece Coordinate System
      • 3.1.72. Set Joint Torque Sensor Drag Teaching Parameters
      • 3.1.73. Get Joint Actuator Temperature
      • 3.1.74. Return to Safe Point
      • 3.1.75. Force Sensor Activated
      • 3.1.76. Force Sensor Zeroing
      • 3.1.77. Force Sensor Load Identification
      • 3.1.78. Force Sensor Safety Inspection
      • 3.1.79. Force Sensor Safety Detection Trigger Strategy
      • 3.1.80. Set Force Sensor Coordinate System
      • 3.1.81. Set Force Sensor Safety Detection Threshold
      • 3.1.82. Weak load identification initialization settings
      • 3.1.83. Unpowered Load Identification Main Program
      • 3.1.84. Get powerless load identification result
      • 3.1.85. Activate gripper
      • 3.1.86. Control gripper movement
      • 3.1.87. Get whether gripper motion is completed
      • 3.1.88. Get Gripper Activation Status
      • 3.1.89. Get Gripper Position
      • 3.1.90. Joint Space Impedance Control Enabled
      • 3.1.91. Joint Space Impedance Control Off
      • 3.1.92. Cartesian Space Impedance Control Enabled
      • 3.1.93. Cartesian Space Impedance Control Off
      • 3.1.94. Variable Parameter Admittance Control Enabled
      • 3.1.95. Variable Parameter Admittance Control Off
      • 3.1.96. Set Variable-Parameter Admittance Control Parameters
      • 3.1.97. Contact Detection Enabled
      • 3.1.98. Contact Detection Off
      • 3.1.99. Configure Contact Detection Trigger Policy
      • 3.1.100. Get Contact Detection Trigger Status
      • 3.1.101. Speed feedforward function setting
    • 3.2. Introduction to Waist SDK Functions (When the Waist Joint Exists)
      • 3.2.1. Instantiate waist
      • 3.2.2. Close waist
      • 3.2.3. Joint-space motion
      • 3.2.4. Stop exercising
      • 3.2.5. Get current joint position (angle)
      • 3.2.6. Check whether the motion is completed
      • 3.2.7. Joint Enable
      • 3.2.8. Joint Disable
      • 3.2.9. Joint Zero Calibration
      • 3.2.10. Clear Controller Errors
      • 3.2.11. Set waist positive limit
      • 3.2.12. Set waist negative limit
      • 3.2.13. Obtain joint soft limit angles
      • 3.2.14. Set Waist Acceleration Percentage
      • 3.2.15. Set Waist Global Speed Percentage
      • 3.2.16. Retrieve the robotic arm firmware version
      • 3.2.17. Get Joint Actuator Temperature
    • 3.3. SDK Function Introduction for the Tool Section
      • 3.3.1. Instantiate the utility class
      • 3.3.2. Close utility class
      • 3.3.3. Establish communication with the robot controller
      • 3.3.4. Disconnect communication with the robot controller
      • 3.3.5. Obtain the communication status between the SDK and the robot
      • 3.3.6. Configure Robot
      • 3.3.7. Log Export
      • 3.3.8. Data Recording
      • 3.3.9. SDK Server Deployment
      • 3.3.10. Retrieve SDK version information
      • 3.3.11. SDK Server Deployment
      • 3.3.12. Retrieve robot software version information
      • 3.3.13. Restart Robot Operating System
      • 3.3.14. Shut down Robot Operating System