---
# System prepended metadata

title: Kinova Robot Arm
tags: [kinova, AICSIR]

---

Kinova Robot Arm
===
###### tags: `AICSIR` `kinova`

==網路線壞掉，下禮拜廠商要送修==
# :dart: target
- [x] tkinter 圖形界面
- [ ] 整合要publish 之資訊為一個node
    - [x] 手指收
    - [x] 到特定座標
    - [ ] 判斷是否抓到
    - [ ] 整合視覺

# 座標表示
![](https://i.imgur.com/XXl5uO7.png)


# ROS 基本node
1. launch driver
```
$roslaunch kinova_bringup kinova_robot.launch 
```
3. 直角座標
```
$rosrun kinova_demo pose_action_client.py -v -r j2n6s300 mdeg -- 0.01 0 0 0 10 10
```
3. 手指抓取
```
rosrun kinova_demo fingers_action_client.py j2n6s300 percent -- 100 100 100
```

# 自己寫的node
node name: test.py

- kill button
- 自動復位
- 座標點表示
- 座標點到達

目標

- [ ] 整合CV
- [ ] 顯示CV影像

# Gantt Diagram 
```mermaid
gantt
    title Gantt Diagram

    section Arm
    Position control  : a1, 2020-2-24, 1d
    section CV
    Mix Arm      :b1, after a1, 3d
    section Rader
    Start prepare : c1 ,2020-3-5, 
    
```