1. Go to the Application’s Menu and search : KIKOBOT Robot System. Launch the application by double clicking on it.

  2. This will open two windows : 1) The UI window will open in full-screen 2) The RVIZ window will also launch

    You can switch between screens by Alt + Tab

    If the URDF in RVIZ window load in first time , then just close everything and relaunch the software.

    Screen 1 :

    image.png

Screen 2 :

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  1. Power on the robot by connecting the adapter cable to the controller board as shown in the figure below.

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  1. Connect the robot’s cable to the controller board.

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  1. Connect the power cable for RasberryPi attached at the bottom of the controller board .Also you can connect HDMI cable and other peripherals like keyboard , mouse to RaspberryPi directly,

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  1. Go to the directory of firmware and run : python3 kikobot_uart_with_gripper_loop.py --port /dev/ttyAMA0

Robot Control Modes The Kikobot Robot System offers three distinct operating modes, each designed for specific applications:

  1. Task Space Jogging - Control robot movement in 3D space (X, Y, Z, Roll, Pitch, Yaw)
  2. Joint Space Jogging - Control individual robot joints independently
  3. Hand Teaching Mode - Record and replay custom trajectories

Task Space Jogging

Task Space Jogging allows you to control the robot's end-effector position and orientation in 3D space. This mode is ideal for precise positioning tasks and spatial movements

Configuration for Task Space Jogging :

  1. Jog Mode: Set to 1 for Task Space control