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Olivier R-D 2015-04-13 11:17:59 +02:00
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README
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@ -1,20 +1,12 @@
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful, urx is a python library to control a robot from 'Universal robot'.
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License It is meaned as an easy to use module for pick and place like programming,
along with this program. If not, see <http://www.gnu.org/licenses/>. although it has been used for welding and other application with rather low update rate.
urx is a python library to control a robot from 'Universal robot'. It has currently been used with several versions of UR5.
Both the 'secondary port' interface and the real-time/matlab interface of the UR controller are used. Both the 'secondary port' interface and the real-time/matlab interface of the UR controller are used.
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
urx is known to work with all release robots from Universal Robot.
urx was primarily developed by Olivier Roulet-Dubonnet for Sintef Raufoss Manufacturing and is published under the GPL license: urx was primarily developed by Olivier Roulet-Dubonnet for Sintef Raufoss Manufacturing and is published under the GPL license:
http://www.sintef.no/manufacturing/ http://www.sintef.no/manufacturing/
@ -31,12 +23,11 @@ rob.movel((x, y, z, rx, ry, rz), a, v)
print "Current tool pose is: ", rob.getl() 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.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.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) rob.stopj(a)
robot.movel(x, y, z, rx, ry, rz), wait=False) robot.movel(x, y, z, rx, ry, rz), wait=False)
while True : while True :
sleep(0.1) #sleep first since the information may be outdated sleep(0.1) #sleep first since the robot may not have processed the command yet
if robot.is_program_running(): if robot.is_program_running():
break break
@ -52,24 +43,21 @@ try:
except RobotError, ex: except RobotError, ex:
print "Robot could not execute move (emergency stop for example), do something", ex print "Robot could not execute move (emergency stop for example), do something", ex
Using matrices: Development using Transform objects from math3d library:
robot = Robot("192.168.1.1") robot = Robot("192.168.1.1")
robot.set_tcp((0,0,0.23,0,0,0) robot.set_tcp((0,0,0.23,0,0,0)
calib = mathd3d.Transform() robot.csys.orient.rotate_zb(pi/4) #just an example
calib.orient.rotate_zb(pi/4) #just an example trans = robot.get_pose() # get current transformation matrix (tool to base)
robot.add_csys("mycsys", calib) #set robot corrdinate system
robot.set_default_csys("mycsys")
trans = robot.get_transform() # get current transformation matrix (tool to base)
trans.orient.rotate_yt(pi/2) trans.orient.rotate_yt(pi/2)
robot.apply_transform(trans) robot.set_pose(trans)
trans.pos += math3d.Vector(0,0,0.3) trans.pos += math3d.Vector(0,0,0.3)
robot.apply_transform(trans) robot.set_pose(trans)
#or only work with orientation part #or only work with orientation part
o = robot.get_orientation() o = robot.get_orientation()
o.rotate_yb(pi) o.rotate_yb(pi)
robot.orient(o) robot.set_orientation(o)