2020年7月13日——UR3机械臂调试——002

原文链接

https://github.com/SintefManufacturing/python-urx

Example use:

下面展示一些 例句。

import urx

rob = urx.Robot("192.168.0.100")  #将机械臂IP赋予变量rob
rob.set_tcp((0, 0, 0.1, 0, 0, 0))  #The track point of the tool 
rob.set_payload(2, (0, 0, 0.1))  #The barycenter of the tool
sleep(0.2)  #leave some time to robot to process the setup 				   commands
rob.movej((1, 2, 3, 4, 5, 6), a, v)  #move in joint space,acc=0.1,vel=0.05
rob.movel((x, y, z, rx, ry, rz), a, v)  #Send a movel command to the robot
print "Current tool pose is: ",  rob.getl()  #get TCP position
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 in base coordinate and keep orientation
rob.stopj(a)

robot.movel(x, y, z, rx, ry, rz), wait=False)
while True :
    sleep(0.1)  #sleep first since the robot may not have processed the command yet
    if robot.is_program_running():
        break

robot.movel(x, y, z, rx, ry, rz), wait=False)
while.robot.getForce() < 50:
    sleep(0.01)
    if not robot.is_program_running():
        break
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)

Development using Transform objects from math3d library:

from urx import Robot
import math3d as m3d

robot = Robot("192.168.1.1")
mytcp = m3d.Transform()  # create a matrix for our tool tcp
mytcp.pos.z = 0.18
mytcp.orient.rotate_zb(pi/3)
robot.set_tcp(mytcp)
time.sleep(0.2)  #  get current pose, transform it and move robot to new pose
trans = robot.get_pose()  # get current transformation matrix (tool to base)
trans.pos.z += 0.3
trans.orient.rotate_yb(pi/2)
robot.set_pose(trans, acc=0.5, vel=0.2)  # apply the new pose


#or only work with orientation part
o = robot.get_orientation()
o.rotate_yb(pi)
robot.set_orientation(o)

Other interactive methods/properties

from urx import Robot
rob = Robot("192.168.1.1")
rob.x  # returns current x
rob.rx  # returns 0 (could return x component of axis vector, but it is not very usefull
rob.rx -= 0.1  # rotate tool around X axis
rob.z_t += 0.01  # move robot in tool z axis for +1cm

csys = rob.new_csys_from_xpy() #  generate a new csys from 3 points: X, origin, Y
rob.set_csys(csys)

Robotiq Gripper Example use:

import sys
import urx
from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper

if __name__ == '__main__':
	rob = urx.Robot("192.168.0.100")
	robotiqgrip = Robotiq_Two_Finger_Gripper()

	if(len(sys.argv) != 2):
		print "false"
		sys.exit()

	if(sys.argv[1] == "close") :
		robotiqgrip.close_gripper()
	if(sys.argv[1] == "open") :
		robotiqgrip.open_gripper()

	rob.send_program(robotiqgrip.ret_program_to_run())

	rob.close()
	print "true"
	sys.exit()