#CONTROL ARM HOW TO#
#CONTROL ARM SOFTWARE#

For more information on the motor orientation and configuration, please refer to the section Arm coordinate system. The zero position of each motor is defined so as when all motors are at 0°, the arm is straight down along the trunk. The forearm yaw can move from -150° to 150°. For instance, the elbow pitch is limited from 0° to 125°. They correspond to what moves the arm can actually make. If one part is not present in your robot, it's value will simply be None.įor each motor, we have defined angle limits. Please note that the part name can also be nested (e.g. In a more general manner, you can access any motor by using reachy.part_name.motor_name. > - 83.121 The codes above assume that you already instantiated your Reachy, as shown in the section Instantiate Your Robot and assigned it to the reachy variable.

To access a specific motor (here elbow_pitch) in Python code: Theses motors are also behaving as sensor, so their present position can also be read at any time. You can also control their compliancy or their torque limit. They are servo motors that you control in position. Higher-level ways to control the whole arm are shown in the next sections. For the force gripper, you have:Įach of these motors can be controlled individually. Reachy's upper arm is composed of 4 motors:Īnd depending on the hand used, usually 3 or 4 others motors. if your robot is attached in front of a desk or can freely moveĮverything is setup? It's time to make Reachy move! Moving individual motors.angles from a right arm to a left arm may differ.Using the left arm instead should be straightforward.Īlways make sure that the different commands suggested below make sense in your context: In the examples below, we will show examples on a right arm.

It provides simple guidelines to avoid damaging your robot. More information is available on the Safety first section. When you are sure everything is okay, you can increase the speed again.

#CONTROL ARM HOW TO#

Do not hesitate to first try the move you want to make, with a low speed (we will show how to do that below). The motor are powerful so they can make the whole arm move fluidly.If a wire is blocked or a motor is completly reversed, sending target position or even turning the motor on may result in a violent motion that may damage the robot. Make sure the robot is in a “safe” state (as shown in the images below for instance).In particular, this lets you retrieve the arm(s) state and send commands to make it move.īefore actually running some commands, it's important to make sure you are ready: This synchronization loop runs at about 100Hz.

#CONTROL ARM SOFTWARE#

This means that the hardware (sensors and effectors) are synced with their software equivalent. Once you have instantiated the Reachy object, you are actually connected to your robot.

Setting a new target position for a motor.

Replace your car's control arm bushings as soon as symptoms appear, although your budget may not always allow you.Īlso, control arm bushings are best replaced as a set, as it reduces overall labor costs and saves you the time of a second trip.

On average, you should be able to drive the car between 96km and 128km after the control arm bushing problem.īut we don't recommend you do this unless you are willing to face more severe consequences. You can drive long enough to have the same problem on the other side. So when looking at how long you can drive with bad control arm bushings, it all depends on how bad it is. However, they are durable enough not to fail immediately. Hitting a pothole, curb, or getting involved in a minor accident can cause bushings to wear unevenly. When you consider how long it will last, it is normal to expect the bushing to wear out gradually and slowly. Typically, a new set of control arm bushings will last from 40 to 100,000 miles, with a life expectancy of 80,000 miles. How long can you drive with bad control arm bushings?Ĭontrol arm bushing life varies by vehicle type, manufacturer, and driving conditions. Even if you keep the steering wheel straight, your vehicle may be driving randomly to one side. Because when the control arms or bushings are worn or broken, the steering becomes unpredictable and dangerous for you and other drivers. Can you drive with bad control arm bushings？ĭrive with bad control arm bushings is not safe. These parts wear out over time as we drive our vehicles. Typically, the control arm has a bushing on one side and a ball joint on the other.

The primary function of a car control arm is to connect the hub and knuckle to the frame.

Control arm