Mitsubishi PA-10 arm actuator

This actuator reads a list of angles for the segments of the Mitsubishi PA-10 arm and applies them as local rotations. Angles are expected in radians.

../../_images/pa_10.png

Files

  • Blender: $MORSE_ROOT/data/actuators/pa_10.blend

    Unlike other actuators, this one also includes the mesh of the arm (composed of 6 segments).

  • Python: $MORSE_ROOT/src/morse/actuators/pa_10.py

Local data

  • seg0: (float) rotation for the first segment. Around Z axis.
  • seg1: (float) rotation for the second segment. Around Y axis.
  • seg2: (float) rotation for the third segment. Around Y axis.
  • seg3: (float) rotation for the fourth segment. Around Z axis.
  • seg4: (float) rotation for the fifth segment. Around Y axis.
  • seg5: (float) rotation for the sixth segment. Around Z axis.

Configurable parameters

  • speed: (float) rotation speed for the movements of the segments

Applicable modifiers

No available modifiers

Available services

  • set_rotation_array: (service) Receives an array indicating the angle to give to each of the segments of the arm. Angles are expected in radians. The length of the array should be equal to 6 or less, where any values not specified will be considered as 0.0.

    Parameters

    rotation_array

    array of floats

    Parameters: (rotation_array)

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