Introduction

A summarized exploration of the RoboKit component.

Welcome to the Robokit Section! This guide covers Robokit setup and use for your Robotic Arm(s), whether you're new or experienced. It includes setup, firmware, safety, and more.

RoboKit, part of AMAS, connects and controls physical robots, enabling immersive teleoperation for Universal Robots e Series Robotic Arms over a network.

Product Objectives

The primary objective of RoboKit is to modernize robot arms for intuitive remote control via AMAS VR app and SenseKit, enabling precise and immersive 3D interaction.

Key Features

RoboKit enhances control and safety for the physical robot arm with key features:

  1. Real-Time Inverse Kinematics: Computes and generates the robot's trajectory based on AMAS VR app commands, enabling real-time control.

  2. Error Handling: Implements safety protocols to prevent unexpected motions, ensuring safe operation.

  3. Robot Rescue: In-case of error states of robotic arm it brings the robot to the desired position for user out of the error state.

  4. Robot Connection: Includes drivers for sending joint commands and receiving robot state updates.

  5. AMAS VR App Integration: Utilizes ROS Bridge Websocket for user command reception and status/error alerts, enhancing safety awareness.

Integrations

The RoboKit comes in different versions based on the robotic arm that is available to the clients:

The AMAS app comes with the digital twin of the xArm for the interactions and performing user actions. The communications between the AMAS and the xArm is achieved using the RoboKit (shipped with the product) communicating with the xArm 6 or xArm 7 to provide joint angles and velocities for controlling the arm and receiving the current joint states from the arm.

The uFactory xArm Gripper is supported by the AMAS. Service calls are made from the VR App to the gripper to trigger the opening and closing of the gripper.