Reach Alpha 5 - Control Options; Reach Control Software; Hand-Held Controllers; Master Arm

Reach Alpha Integration Manual | V006
+61 (2) 9519 7651 | info@reachrobotics.com www.reachrobotics.com
6. Control options
The Reach Alpha can use serial (RS232 and RS485) for comms, and is commanded either through the Reach
Control software, with a physical hand-held controller, or by a custom-built program.
6.1. Reach Control software
Reach Control provides a graphical means to control each joint of the connected manipulator(s) in position or
velocity mode. Each purchase of a Reach Robotics manipulator includes the software, which can be downloaded
from our website along with the Reach Control manual.
6.2. Hand-held controllers
The manuals for hand-held controllers can be downloaded from our website.
6.2.1. Master Arm
The Reach Robotics Master Arm system is a topside controller that maps the human operator control inputs to the
movement of the manipulator’s joints in a corresponding manner. In this way, the Master Arm controller allows the
manipulator to “mimic” the movement of the operator.
6.2.2. Third party controllers
Reach Control includes support for several third-party controllers. Only one of each type of third-party controller
can be used at one time, for example a gamepad and a keyboard, but not two SpaceMice.
A simple HID gamepad (Reach Robotics supplied or BYO) can be used in conjunction with Reach Control. The
gamepad control inputs can be customised and mapped to the different functions and joints of the manipulator.
The gamepad can be used to control the manipulator in joint velocity, or end-effector Cartesian (XYZ) mode.
For controlling the manipulator in end-effector Cartesian (XYZ) mode, a SpaceMouse can also be used. This
translates 3D motion on the controller into kinematic control of the manipulator end-effector relative to its current
position.
For simple joint control a standard computer keyboard can have keys mapped to certain commands.
6.3. Custom-built programs
Reach Robotics can provide a Software Development Kit and Communication Protocol to aid in creating custom
software for communicating with Reach products. Please contact our Sales team for more details.