Take Home Functionality

Functionality to move the arm of the Tiago to a predefined location

AMAS provides functionality to move the robot to a predefined location when the arm is not in use, this gives the user opportunity to fold the arm concisely allowing them to navigate in the environment easily with the reduced risk of the arm hitting something.

To move the arm to the Home Position, user need to follow the following steps,

1. Go to the Configuration Tab in the Wrist Menu.

2. Select Robokit tab.

3. In the Active Robokits Panel located the entry for the Tiago Robot.

4. In the section for the Tiago's Robokit there would be an interactable home icon.

5. Click the home icon (highlighted by green border) as shown in the picture below.

Take Home Button

6. After clicking the Take Home button, the trajectory operations panel will open.

Trajectory Operations Panel is used to preview the planned motion the robot will perform to recover from the error, authorize the planned motion if the motion is acceptable or to stop the motion of the arm in case of sudden change in environment during the execution of the motion.

Trajectory Operations Panel.

7. To re-visualize the path, in the Trajectory Operations Panel press the Visualize Robots Planned Motion button to preview the motion the arm will make.

8. In case the planned motion is not acceptable then click Cancel button and move the digital twin to a different position and press the home icon again. This step could be repeated as many times till a suitable path is found.

9. Upon finding the suitable path press the Execute Planned Motion , when the execution is completed the Operation Status would indicate the state.

10. Now press Cancel to return to the Active Robokits panel. Take Home motion is now finished.