74 lines
2.5 KiB
Plaintext
74 lines
2.5 KiB
Plaintext
This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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urx is a python library to control a robot from 'Universal robot'.
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Both the 'secondary port' interface and the real-time/matlab interface of the UR controller are used.
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urx can optionally use the python-math3d https://launchpad.net/pymath3d library to receive and send transformation matrices to the robot
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Example use:
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import urx
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rob = urx.robot("192.168.0.100")
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rob.set_tcp((0, 0, 0.1, 0, 0, 0))
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rob.set_payload(2, (0, 0, 0.1))
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rob.movej((1, 2, 3, 4, 5, 6), a, v)
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rob.movel((x, y, z, rx, ry, rz), a, v)
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print "Current tool pose is: ", rob.getl()
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rob.movel((0.1, 0, 0, 0, 0, 0), a, v, relative=true)# move relative to current pose
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rob.translate((0.1, 0, 0), a, v) #move tool and keep orientation
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rob.orient((0.1, 0, 0), a, v) #orient tool and keep tool tip position
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rob.stopj(a)
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robot.movel(x, y, z, rx, ry, rz), wait=False)
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while True :
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sleep(0.1) #sleep first since the information may be outdated
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if robot.is_program_running():
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break
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robot.movel(x, y, z, rx, ry, rz), wait=False)
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>>>>>>> 43397b6cea74844db7a98bc58649fda3fce86cba
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while.robot.getForce() < 50:
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sleep(0.01)
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if not robot.is_program_running():
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break
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robot.stopl()
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try:
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robot.movel((0,0,0.1,0,0,0), relative=True)
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except RobotError, ex:
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print "Robot could not execute move (emergency stop for example), do something", ex
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Using matrices:
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robot = Robot("192.168.1.1")
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robot.set_tcp((0,0,0.23,0,0,0)
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calib = mathd3d.Transform()
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calib.orient.rotate_zb(pi/4) #just an example
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robot.add_csys("mycsys", calib) #set robot corrdinate system
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robot.set_default_csys("mycsys")
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trans = robot.get_transform() # get current transformation matrix (tool to base)
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trans.orient.rotate_yt(pi/2)
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robot.apply_transform(trans)
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trans.pos += math3d.Vector(0,0,0.3)
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robot.apply_transform(trans)
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#or only work with orientation part
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o = robot.get_orientation()
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o.rotate_yb(pi)
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robot.orient(o)
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