How to use Sensor Glove with Robot Hand

Repository Clone

 

Additional Requirements

Connection with PC

First step is to make sure that the Sensor glove is connected to the USB0 and Robot Hand is connected to USB1. If this is not in order, we might have to change it inside the files and aslo in rosserial_python library. 

Connecting with ROS

  • Initiate Roscore with command: roscore
  • Run the Rosserial Python command to initiate the Serial connection between with the hand through Python:

          rosrun rosserial_python serial_node.py tcp

           You will see something like this:

  • After this, run the Arduino file to initiate the calibration. If the Serial connection is finished, you will see something like this:

Connecting with the Robot Hand

In order to connect with the hand, just run this file:

roslaunch rh8d start_rh8d.launch

How to install Lotus Notes on Linux & MacOS

Get Lotus Notes for Linux or IOS

 

Details to the MAC OS Installation (M1)

  • Run the installer called, Notes1101FP4_DE_IT_Notarized_Mac.dmg.
  • Start the package: HCL Notes Installer-nl1d.pkg
  • Note that the installer ‘Notes_1101_Mac_German_Italian.dmg‘ is not working on an M1.
  • Enter your Name.
  • Enter the Server: nmail1.unileoben.ac.at
  • Enter Lotus Notes Password that you got from the ZID.
  • Otherwise, you need to get a notes account.

Setup the Notes Client

  • Option 1: Call ZID and let them do it for you.
  • Option 2: Copy your old ‘desktop8.ndk‘ file from /Library/Application Support/HCL Notes Data/ into the same folder on your new MAC OS system.

Responsibilities & Contacts

This post provides information on whom to contact depending on your purpose.

Note that this post is continuously updated to keep the contact persons up-to-date. 

If you discover out-dated information, please contact our secretary

 

Sabine Fluch

  • CISCO telephone stations for new employees. 

Helga Winklmayr

Julia Schmidbauer

  • Knowledge- and Technology Transfer & Business Partnerships

Moodle Courses

SAP GUI MAC

How to use our FRANKA EMIKA Panda

Franka World Account

 

Franka Emika Webinterface

To connect to the web interface, use the robot PC. Open the browser and visit the website: https://robot.franka.de/ or via IP 172.16.0.2 . The access data for the web interface are as follows:

Account name: CPSFranka
PW: bs6m6BYftuQjd8p

Getting started with the Guiding Mode

Before you start with the guiding mode you should get to know the status colors of the Franka Panda. You can find them in the picture below. In case of difficulties, the user manual on page 137 provides you with initial assistance.

In guiding mode, motion of the arm follows the corresponding guiding configuartion, which is displayed in the sidebar. The guiding configuration can be changed by pressing the guiding mode button on top of the grip. You can also select the guiding mode in the web interface.

Teaching the Robot to Pass Through a Sequence of States

You can register a sequence of robot configurations as target states. These points can be autonomously approached, one after another. 

Activating the Mode 'Guide Task'

To set up a guide task, press the “+” button next to the tasks in the lower left part of the web interface. Next, you can add either a Cart Motion App or a Joint Motion App. After you have set up the task, you can begin the guidance process.

To start the guidance program, unlock the robot’s joints in the web interface and check that the two switches are off (on the right of the window). Next, open the first app of your task. Now you need to go to the robot and press the two buttons at the end of the end effector. Then move the robot arm to the first control point and press the “o” button on the control panel, repeat this process until you have completed your guidance program. Finally, press the green check button. Now you only have to enter the maximum speed and acceleration for your task and you are done with the first app. Use the same procedure for all apps. You can then return to the computer and start your program after unlocking the safety switch.

ATTENTION: Do not be in the robot’s danger zone at any time while your guidance program is running!

Adding a New Post Guidelines

Clone an Existing Post

The best strategy is to clone an existing post. Filter all post by your target category. Select a post and clone it. 

Avoid Editing Simultaneously with Others a Post

Whenever you see the lock symbol, be careful. Contact the user first before you start editing the post. 

Click on Edit and Select the Categories & Featured Image

In the right panel, you see the categories list (left image below) and the featured image tab. 

Click on the publish button once you are done. 

User Proper Filenames for Images

Please always give your images a proper filename. That will make it easier for all to reuse images. 

 

Publish Your Post

Press the Publish button on the top right to save your post. Afterwards edit the content by pressing on the Elementor button in the center. 

Edit the Post in Elementor

We use the Elementor plugin to format our content. 

Use TitlesInner SectionsText FieldsImages, Videos and Shortcodes to present your content.

Adding Selected Publications to the Post

You can add publications to your post by pasting the following code into a shortcode element, enclosed by the parentheses [your code]

tplist include=”2,55,86″ entries_per_page=”5000″ image=”right” image_size=”150″ image_link=”self” template=”tp_template_2016″ link_style=”direct” as_filter=”true”

Make sure that you add the enclosing parentheses []!

The publication ids can be found in the publication list.