3.2. Joint Control

This section explains how to operate HSR “arm,” “head,” and “gripper.”

• 3.2.1. Basic
  • 3.2.1.1. Initial Pose Transitions
  • 3.2.1.2. Joint Control
  • 3.2.1.3. Change of Xtion’s Direction
  • 3.2.1.4. Hand Control
  • 3.2.1.5. End-Effector Pose Control
  • 3.2.1.6. Linear End-Effector Motion Control
  • 3.2.1.7. Circular-Arc End-Effector Motion Control
• 3.2.2. Advanced
  • 3.2.2.1. Limiting the Range of Motion of the End Effector
  • 3.2.2.2. Switching the End-Effector Reference Frame
  • 3.2.2.3. End-Effector-Based Motion Control Using tf
  • 3.2.2.4. Settings to Look at End Effector After Motion
  • 3.2.2.5. Adjusting the Ratio of Base and Arm Motion
  • 3.2.2.6. Collision Avoidance
  • 3.2.2.7. Asynchronous Movement