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7. Teleoperation

7.1 Overview & Safety​

Teleoperation is the mode where your 3D leader input is translated into motion for the follower (robot arm/end‑effector).
Before you begin:

  • Ensure the cell is clear of tools/parts from any previous session.
  • Verify emergency stop access and appropriate speed/limit settings.
  • Confirm the correct control group is connected (see Section 5.3.4 Create a Control Group) and you are on the Command screen (6. Command Screen).

7.2 Basic Motion (Clutch)​

  • Button 1 - Clutch (hold): Press and hold to enable robot motion. Release to freeze the robot at its current pose.
  • While clutching with orientation control off, motion is Cartesian position only (handle orientation is ignored).

7.3 Orientation Control (Toggle)​

  • Button 2 - Orientation Toggle (press): Turns orientation teleoperation on/off.
    • Off: Cartesian translation only (useful for straight‑line work once your tool is oriented).
    • On: While holding the clutch, the robot follows both position and orientation from the handle.

7.4 End‑Effector Actuation​

  • Button 3 - Tool Action (press): Operates the end‑effector.
    • Gripper: Open/Close.
    • Pump/Other tool: Engage/Disengage per the tool’s plugin.

harp_VGSbuttons

7.5 Input Scaling for Precision​

harp_7_5

Use Input Scaling to adjust leader‑to‑follower motion:

  • 100%: Leader 5 cm → Follower 5 cm.
  • 50%: Leader 5 cm → Follower 2.5 cm.
🛈 TIP: Begin with a lower input scale when first operating a new robot or tool, then increase as confidence grows.

7.6 Re‑Centering the Leader​

If you reach the leader device’s range limit while clutching:

  1. Release the clutch (robot holds position).
  2. Move the leader to a more comfortable pose.
  3. Hold the clutch again; motion resumes from your new input position.

7.7 Practical Workflow Tips​

  • Use Button 2 to orient the tool once, then toggle off to work in pure Cartesian space.
  • Combine low input scaling with clutching to manipulate very small components, perform precise pick‑and‑place, and align into fixtures.
  • If behavior is unexpected, Stop the session (Command Bar or Esc), review Session Information and Event Stream (6.1 Session Information and 6.3 Event Stream), and verify workspace limits (5.4.1 Robot Workspace).

7.8 Power Off Procedure​

Close HARP

  • Save your project before closing HARP in the Connections Screen and clicking on the SAVE button (5.3.6 Saving your project)
  • Click the X located in the upper-right corner of the HARP window to close the application.
  • The Robot should disconnect automatically.

Shut Down the Inverse3 Device

  • If the Device Manager window is open, close it.
  • Unplug the USB-C cable from the Inverse3 device.
  • Disconnect the power cable from the Inverse3 device.

Power Off the Wireless VerseGrip Stylus

  • Press and hold the power button for 3 seconds.
  • Verify that the LED indicators are off (no blinking).

To charge the VerseGrip Stylus for future use, connect it to your PC via the USB cable. Before storing or moving any equipment, confirm that the HARP software is closed, the Inverse3 device is completely disconnected, and the VerseGrip handle is powered off.