PhantomX Pincher pick and place

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This project allows for take-and-leave actions with the Phantom X pincher robot, using Matlab and ROS

• pick_and_place.m:
  • ROS is started.
  • The motorsetup function is started with the desired speed of each motor.
  • The desired end positions are written for each motor in each process position.
  • The position is sent to each engine and waited for it to stop moving.

The engines are listed from 1 to 5, from waist to hand

• motorsetup.m: for each engine:

  • Create a client.
  • Create a message.
  • Indicates the speed using the Speed attribute.
  • Call the service to send the message .
  • The margin and torque is also set.

• posicion.m:

  • Create publisher.
  • Create message.
  • In the Data attribute of each message you add the desired position.
  • The message is sent for each engine.

• ismov.m: for each engine:

  • Create subscriber.
  • Receive a message.
  • Read the IsMoving attribute of the message
  • If any joint moves it returns True

Comments

To obtain the positions create subscribers to the position of each motor and manually take it to each desired position to perform the process