AMBER B1 Robotic Studio is a cross-platform web-based tool that provides Controlling, Dragging to program, monitoring, and testing functions for AMBER Multi-Axis robots and gripper.

Getting Start

**Important: ** EVERY time to launch AMBER B1, please follow the steps below exactly.

Step 1, Make sure B1 is POWERED ON with ZERO POSITION.

About Zero Position, see https://raw.githubusercontent.com/AmberInside/Amber_AI_ROS2/main/Docs/initial_position.png

Step 2, keep the e-stop in RELEASE mode, power on the Master box. Open a terminal and run

sudo -sE

/home/amber/b1.sh

Step 3, open firefox and visit http://127.0.0.1:85/

If everthing goes well, the degree of the aixes will be updated on the MAIN page.

• The connection status between B1 and Master System. If it shows disconnected, pls click the button to connect them.

• The power status of B1, click the power button to power the B1 on EVERY TIME.

• This area shows the Joint (or Actuator) degree from the 0 position. Click button,+, the joint will make a clockwise turn (it's 3 degrees by default), the button,-, make a turn on the oppsite side.

• Section TCP(Tool Center Position), the status will follow the step with the Joint Space changing.

  ***Important: If you click the button in the section TCP, please click the Z axis first to keep the B1 to an available attidude, the other axis's button, X/Y/Roll/Pitch/Yaw, will works.

• It shows B1's Arm Angel status.

• When you change this number, the B1 will change the speed to make turns. The number means how many second when you click + or - once in Joint Space.

• The B1 will go back to the zero position once you click the home button.

Dragging(teaching & learning mode) will help to program by dragging B1 to follow the track you want. It's a web based Graphical User Interface with kinematics algorithm at the backend providing user friendly environment for controlling the end-effector of robot arm locally or remotely.

**Important: Keeping B1 on Zero position before dragging.

• Input a file name or open a file created before, click the Record button while you're ready to drag. Click "Stop Recording" when it's done.
• ! Open a file and click "replay". The replay will repeats until you Click "Stop Replaying".
• To adjust the sampling frequency to meet your requests. It's 200ms by default. --Currently we suggest it's less than 30 seconds for every dragging.

When you are familiar with B1 and want to reset or change the zero position, just click the button "Calibrate" behind the axis number. The axis connected to the power cable is No.1 by default.

**Important: DO auto-calibrate first everytime before you use gripper just by clicking

To adjust the intensity of the gripper to hold the payload. It's 10 by default.

AMBER also offers to access the Master remotely,

like Ipad or laptop with cable or WIFI in the same LAN network.

Step 1, Download the lates update of b1.sh and replace the one in the directory of /home/amber.

The latest update of b1.sh

Step2, Connect the Master LAN1 port to a router (DHCP enabled) by a regular Ethernet cable to get IP.

**Important: The Ethernet LAN2 is only for connecting to the X-hub.

For expample, as shown above, the IP of the Master obtained from the router is 192.168.1.9, select this option and submit by the button,"Configuration".

Step 3, After then, connect and power on the Master, X-hub and B1 Arm, you're able to control B1 Arm by any devices in the same LAN network by http://192.168.1.9:85/.

Remember, if the IP in your LAN is x.x.x.x, the access url should be http://x.x.x.x:85/.

If WLAN or LAN's firewall is enabled, please add tcp port 80, 8080 and UDP port 25001 to the inbound rules.