HDT Adroit 6DOF Manipulator

The Adroit robot arm is light-weight yet very strong 6-DOF robot manipulator arm. No Joint Limits!

1. The adroit arm has a power switch and an estop. The e-stop cuts off power to the arm
2. You connect to the adroit arm via ethernet.
   • You must assign yourself a static ip of 192.168.0.1
   • The robot's ip is 192.168.0.100

3. Create the profile:

   nmcli con add type ethernet con-name Adroit
   nmcli con mod Adroit ipv4.addresses 192.168.0.1/24
   nmcli con mod Adroit ipv4.method manual
   nmcli con mod Adroit connection.autoconnect no 
   nmcli con mod Adroit ipv4.never-default true
   

4. To active the connection, nmcli con up Adroit
5. To deactivate and return to normal ethernet: nmcli con down Adroit

6. Clone the code (you will need to request access from me)

   cd ~/custom_ws/src
   git clone git@github.com:NU-MSR/hdt_6dof_a24_pincer.git
   

7. Re-build the custom workspace
8. You may also download the manual curl -k "https://beast.mech.northwestern.edu:4443/static/hdt_manual.pdf" > ~/hdt_manual.pdf

1. The adroit arm is primarily controlled via moveit. The arm relies on moveit to prevent self-collisions
2. The arm has a very high gear ratio and you should not attempt to backdrive it.
3. The primary way to move the arm manually is to use the XBox Game controller

1. roslaunch hdt_6dof_a24_pincer_bringup hdt_arm_bringup_1.launch controller_type:=xbox to launch the robot with the xbox controller.
2. Note: you cannot use moveit and the xbox controller at the same time (at least I have not yet figured out how to with the existing source code).
   • If you use the controller to move the arm, you will need to restart the node to then use moveit.

• HDT Adroit Arm