Data Sheet

2
Contents
1. Introduction
1.1 About this document --------------------------------------------------------------------------------------- 3
1.2 Safety --------------------------------------------------------------------------------------------------------- 4
1.3 Package Contents ------------------------------------------------------------------------------------------- 5
1.4 Layout -------------------------------------------------------------------------------------------------------- 6
1.5 Specification ------------------------------------------------------------------------------------------------- 9
1.6 D-H Configuration ---------------------------------------------------------------------------------------- 11
1.7 Home Position of Robotis Manipulator ---------------------------------------------------------------- 12
2. Getting Started
2.1 Prerequisites ----------------------------------------------------------------------------------------------- 13
2.2 Preparation ------------------------------------------------------------------------------------------------- 14
2.3 Installation of Manipulator ------------------------------------------------------------------------------- 16
2.4 USB2Dynamixel Setting ----------------------------------------------------------------------------------18
2.5 Manipulator Test on DynamixeWizard ---------------------------------------------------------------- 19
2.6 How to use Robotis Manipulatoe SDK ---------------------------------------------------------------- 28
3. Example
3.1 ArmMonitor ------------------------------------------------------------------------------------------------ 30
3.2 SimplePtoP ------------------------------------------------------------------------------------------------- 46
3.3 SimpleIK --------------------------------------------------------------------------------------------------- 50
3.4 SimpleTorqueOnOffandFK ------------------------------------------------------------------------------ 59
4. Robotis Manipulator SDK Programming
4.1 Robotis Manipulator SDK Flowchart ------------------------------------------------------------------ 63
4.2 Description for Robotis Manipulator SDK ------------------------------------------------------------ 64
5. Maintenance
5.1 Restore Firmware ----------------------------------------------------------------------------------------- 69
6. Reference
6.1 ARMSDK_Define ---------------------------------------------------------------------------------------- 73
6.2 ARMSDK_Math ------------------------------------------------------------------------------------------ 74
6.3 MotionEngine ---------------------------------------------------------------------------------------------- 75
6.4 RobotisLib ------------------------------------------------------------------------------------------------- 92
6.5 Timer -------------------------------------------------------------------------------------------------------- 97