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move example use to README file

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Olivier R-D 2013-03-23 09:46:56 +01:00
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50
README
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urx is a python library to control a robot from 'Universal robot'. urx is a python library to control a robot from 'Universal robot'.
Internally, to control the robots, urx uses both the 'secondary port' interface and the real-time/matlab interface. Internally, to control the robots, urx uses both the 'secondary port' interface and the real-time/matlab interface.
urx can optionally use the python-math3d https://launchpad.net/pymath3d library to receive and send transformation matrices to the robot urx can optionally use the python-math3d https://launchpad.net/pymath3d library to receive and send transformation matrices to the robot
Example use:
import urx
rob = urx.robot("192.168.0.100")
rob.set_tcp((x=01, z=0.232))
rob.movej((1,2,3,4,5,6), a, v) # move in robot internal coordinate system
rob.movel((x,y,z,a,b,c), a, v)
print "Current tool pose is: ", rob.getl()
rob.movel((0.1, 0, 0, 0, 0, 0), a, v, relative=true)# move relative to current pose
rob.translate((0.1, 0, 0), a, v) #move tool and keep orientation
rob.orient((0.1, 0, 0), a, v) #orient tool and keep tool tip position
rob.stopj(a)
robot.movel(x,y,z,a,b,c), wait=False)
while True :
sleep(0.1) #sleep first since the information may be outdated
if robot.is_program_running():
break
robot.movel(x,y,z,a,b,c), wait=False)
while.robot.getForce() < 50:
sleep(0.01)
robot.stopl()
try:
robot.movel((0,0,0.1,0,0,0), relative=True)
except RobotError, ex:
print "Robot could not execute move (emergency stop for example), do something", ex
Using matrices:
robot = Robot("192.168.1.1")
robot.set_tcp((0,0,0.23,0,0,0)
calib = mathd3d.Transform()
calib.orient.rotate_zb(pi/4) #just an example
robot.set_calibration_matrix(calib) #set robot corrdinate system
trans = robot.get_transform() # get current transformation matrix (tool to base)
trans.orient.rotate_yt(pi/2)
robot.apply_transform(trans)
trans.pos += math3d.Vector(0,0,0.3)
robot.apply_transform(trans)
#or only work with orientation part
o = robot.get_orientation()
o.rotate_yb(pi)
robot.orient(o)
This program is free software: you can redistribute it and/or modify This program is free software: you can redistribute it and/or modify

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urx/urx.py
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""" """
Python library to control an UR robot through its TCP/IP interface Python library to control an UR robot through its TCP/IP interface
import urx
rob = urx.robot(192.168.0.100)
rob.set_tcp((x=01, z=0.232))
rob.movej((1,2,3,4,5,6), a, v)
rob.movel((x,y,z,a,b,c), a, v)
print "Current tool pose is: ", rob.getl()
rob.movelrel((0.1, 0, 0, 0, 0, 0), a, v)
rob.stopj(a)
robot.movel(x,y,z,a,b,c), wait=False)
while True :
sleep(0.1) #sleep first since the information may be outdated
if robot.isProgramRunning():
break
robot.movel(x,y,z,a,b,c), wait=False)
while.robot.getForce() < 50:
sleep(0.01)
robot.stopl()
try:
robot.movelrel(0,0,0.1,0,0,0)
except RobotError, ex:
print "Robot could not execute move (emergency stop for example), do somethhing", ex
Using matrices:
robot = Robot("192.168.1.1")
robot.set_tcp((0,0,0.23,0,0,0)
calib = mathd3d.Transform()
calib.orient.rotate_zb(pi/4) #just an example
robot.set_calibration_matrix(calib)
trans = robot.get_transform() # get current transformation matrix (tool to base)
trans.orient.rotate_yt(pi/2)
robot.apply_transform(trans)
trans.pos += math3d.Vector(0,0,0.3)
robot.apply_transform(trans)
#or only work with orientation part
o = robot.get_orientation()
o.rotate_yb(pi)
robot.orient(o)
DOC LINK DOC LINK
http://support.universal-robots.com/URRobot/RemoteAccess http://support.universal-robots.com/URRobot/RemoteAccess
""" """