Wearable Intertace for Teleoperation of Robot Arms - WITRA

[Update 11] Wirelessly Setting the Setpoint of Impedance Control on SCARA
Update #10137  |  28 Nov 2014

On this video you can see how we send information over TCP/IP from a PC to SCARA's server with the end-effector's cartesian position information.

On the robot side, the server expects a setpoint information continuously. This setpoint is set as the setpoint for the Impedance Controller (you can check more out about it at our last update: http://challenge.toradex.com/projects/10157-wearable-intertace-for-teleoperation-of-robot-arms-witra/updates/10135-impedance-control-implementation-on-scara

The server expects a string of the form


which contais four pieces of information: the mode of control, x-coordinate, y-coordinate and z-coordinate, on this order, for the robot's end-effector.

We'are using Hercules [1] to create a TCP Client and send strings with information to the robot's server.

This way we can wirelessly set the goal position for SCARA's end-effector continuously. The next step is to integrate this with WITRA and make the wearable interface send this piece of information and remotely operate the robot. 




Make sure you also follow our news and updates on our social channels below. 

youtube       facebook       email