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Follower Arm 3D Visualization Control

After selecting an Alicia-D or Alicia-M follower arm device, you enter the single-arm control workspace. Without writing any code, you can complete joint control, Cartesian-space IK operations, and trajectory planning through the graphical interface, driving the physical robotic arm in real time. The left navigation includes:

  • Dashboard
  • Visualization Control
  • Firmware Management
  • Device Settings

Dashboard​

The dashboard is used to view device status and perform common control:

  • Displays connection status, device model, serial number, firmware version, hardware version, gripper information, and self-check status.
  • Supports connecting / disconnecting the device.
  • Supports resetting to the origin.
  • Supports system self-check.
  • Supports viewing joint temperature / motor temperature, with protection tips when the temperature is too high.
  • The right side integrates a 3D spatial status component that displays pose and joint data in real time.

The control items vary slightly depending on the device model:

  • Alicia-D: Provides a torque switch.
  • Alicia-M: Provides an enable switch, mode switching, and parameter settings.

Visualization Control (SparkVis)​

This page is used for 3D visualization and interactive control of the robotic arm. The current interface includes:

  • Real-time display of end-effector position and pose.
  • World / local coordinate system indication.
  • 3D model display and interaction.
  • Toggling of grid, axes, and perspective mode.
  • An example code popup, where code snippets can be copied.

The control area on the right contains three tabs:

Joint Control​

  • Adjust the angle of each joint.
  • Adjust the gripper opening and closing.
  • Supports linked control via sliders and input fields.

Cartesian Space​

  • Enable / disable IK control.
  • Switch between translation / rotation mode.
  • Switch between world / local reference frame.
  • Control the end-effector and gripper.
  • Supports keyboard shortcuts for assisted operation.

Trajectory Planning​

  • Add waypoints.
  • Set dwell time.
  • Generate a trajectory.
  • Execute, pause, and stop the trajectory.
  • Import / export trajectories.
  • Supports extended parameters such as looped execution.

Firmware Management​

The firmware management page for robotic arm devices:

  • View the current firmware version.
  • Check whether an update is available.
  • View version history and changelog.
  • Perform firmware upgrade.
  • Perform version rollback in supported scenarios.

Do not disconnect the device during the flashing process; the device may restart automatically when complete.

Device Settings​

The device settings page is used to configure device preferences and operating parameters:

  • Supports robot control, where you can set the zero point to calibrate the robotic arm's current position as the coordinate system zero point.
  • Supports motion settings, where you can switch between different acceleration / response modes, including Smooth, Fluid, Balanced, Powerful, and Extreme Speed levels.

The settings items vary slightly depending on the device model:

  • Alicia-D: In robot control, you can turn torque on and off.
  • Alicia-M: Supports gripper parameter configuration, where you can read / modify and save the target gripping force, opening/closing feedforward torque, maximum holding torque, force control proportional/integral, integral clamping, and the torque scaling ratio when approaching closure.