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Olivier R-D 2013-06-25 18:45:40 +02:00
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README
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@ -1,14 +1,30 @@
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,
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
along with this program. If not, see <http://www.gnu.org/licenses/>.
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. 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
Example use: Example use:
import urx import urx
rob = urx.robot("192.168.0.100") rob = urx.robot("192.168.0.100")
rob.set_tcp((x=01, z=0.232)) rob.set_tcp((0, 0, 0.1, 0, 0, 0))
rob.movej((1,2,3,4,5,6), a, v) # move in robot internal coordinate system rob.set_payload(2, (0, 0, 0.1))
rob.movel((x,y,z,rx,ry,rz), a, v) rob.movej((1, 2, 3, 4, 5, 6), a, v)
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
@ -31,10 +47,9 @@ except RobotError, ex:
Using matrices: Using matrices:
robot = Robot("192.168.1.1") robot = Robot("192.168.1.1")
robot.set_tcp((0,0,0.23,0,0,0) mycsys = mathd3d.Transform()
calib = mathd3d.Transform() mycsys.orient.rotate_zb(pi/4) #just an example
calib.orient.rotate_zb(pi/4) #just an example robot.set_csys("default", mycsys) #add new corrdinate system and set it as default
robot.set_csys("mycalib", calib) #add new corrdinate system and set it as default
trans = robot.get_transform() # get current transformation matrix (tool to base) trans = robot.get_transform() # get current transformation matrix (tool to base)
trans.orient.rotate_yt(pi/2) trans.orient.rotate_yt(pi/2)
@ -49,16 +64,3 @@ o.rotate_yb(pi)
robot.orient(o) robot.orient(o)
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,
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
along with this program. If not, see <http://www.gnu.org/licenses/>.