Using different control methods to operate your manipulator or actuator.
Types of control
There are multiple ways to control your Reach Robotics device, and multiple tools to input those controls. The first thing to learn are the different control methods that our devices will accept, and how to apply them through Reach Control.
Joint control
Each joint can be individually controlled using either the Velocity or Jog functions. These functions can be accessed in the control panel. Each function can be enabled by selecting the checkbox next to the label.
When the Velocity function is selected, control arrows will appear on the manipulator model. Click and hold a control arrow to move the joint. The speed at which the joint moves can be adjusted by moving the Gain slider. This is a percentage of the set velocity limit for each joint.
When the Jog function is selected the Gain slider will be replaced by a Jog Inc. slider. This slider controls the amount in degrees that the joint will move. Click and release a control arrow to move a joint by the specified amount.
Kinematics
The kinematics function allows the manipulator to be controlled by moving the end effector, with the path of motion of each joint determined by the software of the arm. To enable the kinematics function, select a kinematics type from the dropdown and select the checkbox next to it.
In Local kinematics, the end effector will move relative to the current end effector position. The end effector can be moved by clicking and dragging the arrows on each axis to move linearly, and the balls at the end of each arrow to rotate.
In Global kinematics, the end effector will move relative to the base of the manipulator. The end effector can be moved using the arrow widget as in Local kinematics.
In Position/Workspace kinematics, the end effector can be sent to a target position. When selected, a position panel will appear next to the control panel, and an axes widget will be added to the jaws.
To use the axes widget, click and drag it to a desired target position. A transparent axes widget will remain at the current end effector position. Click Reset to return the axes widget to the current position.
Once the axes widget has been moved, the Go button will flash, indicating that the manipulator is ready to be moved. Select Go and the end effector will move to the target position.
If the target position cannot be reached, the Go button will stop flashing after being pressed and the manipulator will not move.
Handheld controllers
Physical controllers can also be used to control your manipulator, and should be configured using Reach Control as well.
Master Arm
The Reach Robotics Master Arm is an intuitive hand controller with one-to-one joint control for 5- and 7-function manipulators. The handle comprises a joystick for jaw and wrist control, two preset buttons, and a pause button.
SpaceMouse
The SpaceMouse is a 6-axis kinematic controller which can be used to control a manipulator in Local, Global or Position/Workspace kinematics. The axes of the SpaceMouse can be mapped to X/Y/Z and Pitch/Roll/Yaw using Reach Control, and they often have additional buttons that can be mapped to jaw or preset controls.
Gamepad
An off-the-shelf gamepad is a useful controller if you are controlling multiple manipulators or actuators, as you can toggle between multiple mappings. It is most easily used for joint control, but can be mapped to kinematic controls as well.
Keyboard
For simple joint control of 1-2 function actuators, sometimes a keyboard can be the cheapest and easiest controller to use, as any key can be mapped to a joint function.
Software Development Kit
Reach Robotics provides a Software Development Kit (SDK) so integrators can create their own programs to control their devices. Our Github contains multiple examples of commonly used procedures.
The SDK requires a critical files download to run. Talk to our Sales team for a quote.