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OpenManipulator机械臂入门教程-键盘控制

OpenManipulator机械臂入门教程-键盘控制

说明:

  • 介绍使用键盘来控制OpenManipulator机械臂

操作步骤

  • [PC] 启动机械臂
$ roslaunch open_manipulator_controller open_manipulator_controller.launch
  • [PC] 启动键盘控制
$ roslaunch open_manipulator_teleop open_manipulator_teleop_keyboard.launch

  ---------------------------
  Control Your OpenManipulator!
  ---------------------------
  w : increase x axis in task space
  s : decrease x axis in task space
  a : increase y axis in task space
  d : decrease y axis in task space
  z : increase z axis in task space
  x : decrease z axis in task space

  y : increase joint 1 angle
  h : decrease joint 1 angle
  u : increase joint 2 angle
  j : decrease joint 2 angle
  i : increase joint 3 angle
  k : decrease joint 3 angle
  o : increase joint 4 angle
  l : decrease joint 4 angle

  g : gripper open
  f : gripper close

  1 : init pose
  2 : home pose

  q to quit
  ---------------------------
  Present Joint Angle J1: 0.000 J2: 0.000 J3: 0.000 J4: 0.000
  Present Kinematics Position X: 0.000 Y: 0.000 Z: 0.000
  ---------------------------

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标签: openmanipulator 机械臂入门教程