Coordinate Control

It is mainly used to make intelligent route planning to move the robot arms from one position to another specified position. The coordinate is [x, y, z, rx, ry, rz]. [x,y,z] represents the position of the robot arm head in space (the coordinate system is cartesian coordinate system). [rx,ry,rz] represents the posture of such head at this point (the coordinate system is euler coordinates). The above simple explaination helps you to use functions better.

Note: When setting the coordinates, different series of manipulators have different joint structures. For the same set of coordinates, different series of manipulators will show different postures.

7.1.1-1

mechArm

Single-Parameter Coordinate

send_coord(id,coord,speed)

  • Function: to send a single coordinate value to the robot arm to make it move.
  • Parameter:
    • id: represents the coordinates of the robotic arm. Six axis means that the robot arm has six joints, and four-axis means it has four joints. and there are specific representation methods therefor. The way to represent X coordinate:Coord.X.value. There is also a simple representation method. For example, you can fill in 1 for X-axis, 2 for Y-axis, and so on.
    • coord: Input the coordinate value you want.
    • speed: means the movement speed of the robot arm, ranging from 0 to 100.
  • Return Value: None

Multiple parameter coordinates

get_coords()

  • Function: to obtain the current coordinate and posture.
  • Return Value: list: a list containing coordinates and postures.
    • Six axes: The length is 6, and they are [x, y, z, rx, ry, rz] in order.
    • Four axes: The length is 6, and they are [x, y, z, rx] in order.

send_coords(coords, speed, mode)

  • Function: to send the overall coordinates and postures to move the robot arm head from the original point to the point you have specified.
  • Parameters:
    • coords:
      • Six axes: The length of the coordinate value of [x, y, z, rx, ry, rz] is 6.
      • Four axes: The length of the coordinate value of [x,y,z,rx] is 4.
    • speed: means the movement speed of the robot arm, ranging from 0 to 100.
    • mode: (int ): The value is limited to 0 and 1.
      • 0 means that the movement path of the robot arm head is non-linear, i.e. the movement route is randomly planned just to make sure that the head moves to a specified point with a specified posture.
      • 1 means that the movement path of the robot arm head is linear, i.e. the movement route is intelligently planned just to make sure that the head moves to a specified point with a specified posture in a linear manner.
  • Return Value: None

set_tool_reference(coords)

  • Function： Set Tool coordinate system。
  • Parameters：
    • coords: The coordinate value of [x, y, z, rx, ry, rz] has a length of 6, x, y, z ranging from - 280 to 280, and rx, ry, yz ranging from - 314 to 314
  • Return Value： None

get_tool_reference()

  • Function： Get Tool coordinate system。
  • Return Value： Returns a coordinate list with a length of 6

get_world_reference()

  • Function： Get World coordinate system。
  • Return Value： Returns a coordinate list with a length of 6

set_world_reference(coords)

  • Function： Set World coordinate system。
  • Parameters：
    • coords: The coordinate value of [x, y, z, rx, ry, rz] has a length of 6, x, y, z ranging from - 280 to 280, and rx, ry, yz ranging from - 314 to 314
  • Return Value： None

set_reference_frame(rftype)

  • Function： Set Base coordinate system。
  • Parameters：
    • rftype: 0 - Base coordinate system(default)，1 - World coordinate system
  • Return Value： None

get_reference_frame()

  • Function： Get Base coordinate system。
  • Return Value： 0 - Base coordinate system，1 - World coordinate system，-1 - error

set_end_type(end)

  • Function： Set end coordinate system。
  • Parameters：
    • end: 0 - flange(default)，1 - tool
  • Return Value： None

get_end_type()

  • Function： Get end coordinate system
  • Return Value： 0 - flange(default)，1 - tool, -1 - error

Simple Demo

from pymycobot.mecharm import MechArm
from pymycobot.genre import Coord
from pymycobot import PI_PORT, PI_BAUD  # When using the Raspberry Pi version of MechArm, you can refer to these two variables to initialize MechArm
import time

# MechArm class initialization requires two parameters:
#   The first is the serial port string, such as:
#       linux:  "/dev/ttyAMA0"
#          or "/dev/ttyAMA0"
#       windows: "COM3"
#   The second is the baud rate:: 
#       M5 version is:  115200
#
#    Example:
#       MechArm-M5:
#           linux:
#              mc = MechArm("/dev/ttyAMA0", 1000000)
#          or mc = MechArm("/dev/ttyAMA0", 115200)
#           windows:
#              mc = MechArm("COM3", 115200)
#       MechArm-raspi:
#           mc = MechArm(PI_PORT, PI_BAUD)
#
# Initialize a MechArm object
# Create object code here for windows version
mc = MechArm("COM3", 115200)

# Get the current coordinates and pose of the head
coords = mc.get_coords()
print(coords)

# Intelligently plan the route, let the head reach the coordinates of [152, -9.5, 220.8] in a linear manner, and maintain the attitude of [143.29, 2, 88], the speed is 80mm/s
mc.send_coords([152, -9.5, 220.8, 143.29, 2, 88], 80)

# Set the wait time to 1.5 seconds
time.sleep(1.5)

# Intelligently plan the route, let the head reach the coordinates of [124, -9.5, 232] in a linear way, and maintain the attitude of [ 143.29, 2, 88], the speed is 80mm/s
mc.send_coords([124, -9.5, 232, 143.29, 2, 88], 80)

# Set the wait time to 1.5 seconds
time.sleep(1.5)

# To change only the x-coordinate of the head, set the x-coordinate of the head to -40. Let it plan the route intelligently and move the head to the changed position, with a speed of 70mm/s
mc.send_coord(Coord.X.value, -40, 70)

myCobot

Single-Parameter Coordinate

send_coord(id,coord,speed)

  • Function: to send a single coordinate value to the robot arm to make it move.
  • Parameter:
    • id: represents the coordinates of the robotic arm. Six axis means that the robot arm has six joints, and four-axis means it has four joints. and there are specific representation methods therefor. The way to represent X coordinate:Coord.X.value. There is also a simple representation method. For example, you can fill in 1 for X-axis, 2 for Y-axis, and so on.
    • coord: Input the coordinate value you want.
    • speed: means the movement speed of the robot arm, ranging from 0 to 100.
  • Return Value: None

Multiple parameter coordinates

get_coords()

  • Function: to obtain the current coordinate and posture.
  • Return Value: list: a list containing coordinates and postures.
    • Six axes: The length is 6, and they are [x, y, z, rx, ry, rz] in order.
    • Four axes: The length is 6, and they are [x, y, z, rx] in order.

send_coords(coords, speed, mode)

  • Function: to send the overall coordinates and postures to move the robot arm head from the original point to the point you have specified.
  • Parameters:
    • coords:
      • Six axes: The length of the coordinate value of [x, y, z, rx, ry, rz] is 6.
      • Four axes: The length of the coordinate value of [x,y,z,rx] is 4.
    • speed: means the movement speed of the robot arm, ranging from 0 to 100.
    • mode: (int ): The value is limited to 0 and 1.
      • 0 means that the movement path of the robot arm head is non-linear, i.e. the movement route is randomly planned just to make sure that the head moves to a specified point with a specified posture.
      • 1 means that the movement path of the robot arm head is linear, i.e. the movement route is intelligently planned just to make sure that the head moves to a specified point with a specified posture in a linear manner.
  • Return Value: None

set_tool_reference(coords)

  • Function： Set Tool coordinate system。
  • Parameters：
    • coords: The coordinate value of [x, y, z, rx, ry, rz] has a length of 6, x, y, z ranging from - 280 to 280, and rx, ry, yz ranging from - 314 to 314
  • Return Value： None

get_tool_reference()

  • Function： Get Tool coordinate system。
  • Return Value： Returns a coordinate list with a length of 6

get_world_reference()

  • Function： Get World coordinate system。
  • Return Value： Returns a coordinate list with a length of 6

set_world_reference(coords)

  • Function： Set World coordinate system。
  • Parameters：
    • coords: The coordinate value of [x, y, z, rx, ry, rz] has a length of 6, x, y, z ranging from - 280 to 280, and rx, ry, yz ranging from - 314 to 314
  • Return Value： None

set_reference_frame(rftype)

  • Function： Set Base coordinate system。
  • Parameters：
    • rftype: 0 - Base coordinate system(default)，1 - World coordinate system
  • Return Value： None

get_reference_frame()

  • Function： Get Base coordinate system。
  • Return Value： 0 - Base coordinate system，1 - World coordinate system，-1 - error

set_end_type(end)

  • Function： Set end coordinate system。
  • Parameters：
    • end: 0 - flange(default)，1 - tool
  • Return Value： None

get_end_type()

  • Function： Get end coordinate system
  • Return Value： 0 - flange(default)，1 - tool, -1 - error

Simple Demo

  from pymycobot.mycobot import MyCobot
  from pymycobot.genre import Coord
  from pymycobot import PI_PORT, PI_BAUD  # When using the Raspberry Pi version of mycobot, you can refer to these two variables to initialize MyCobot
  import time

  # MyCobot class initialization requires two parameters:
  #   The first is the serial port string, such as:
  #       linux:  "/dev/ttyAMA0"
  #          or "/dev/ttyAMA0"
  #       windows: "COM3"
  #   The second is the baud rate:: 
  #       M5 version is:  115200
  #
  #    Example:
  #       mycobot-M5:
  #           linux:
  #              mc = MyCobot("/dev/ttyAMA0", 1000000)
  #          or mc = MyCobot("/dev/ttyAMA0", 115200)
  #           windows:
  #              mc = MyCobot("COM3", 115200)
  #       mycobot-raspi:
  #           mc = MyCobot(PI_PORT, PI_BAUD)
  #
  # Initialize a MyCobot object
  # Create object code here for windows version
  mc = MyCobot("COM3", 115200)

  # Get the current coordinates and pose of the head
  coords = mc.get_coords()
  print(coords)

  # Intelligently plan the route, let the head reach the coordinates of [57.0, -107.4, 316.3] in a linear manner, and maintain the attitude of [-93.81, -12.71, -163.49], the speed is 80mm/s
  mc.send_coords([57.0, -107.4, 316.3, -93.81, -12.71, -163.49], 80, 1)

  # Set the wait time to 1.5 seconds
  time.sleep(1.5)

  # Intelligently plan the route, let the head reach the coordinates of [-13.7, -107.5, 223.9] in a linear way, and maintain the attitude of [165.52, -75.41, -73.52], the speed is 80mm/s
  mc.send_coords([-13.7, -107.5, 223.9, 165.52, -75.41, -73.52], 80, 1)

  # Set the wait time to 1.5 seconds
  time.sleep(1.5)

  # To change only the x-coordinate of the head, set the x-coordinate of the head to -40. Let it plan the route intelligently and move the head to the changed position, with a speed of 70mm/s
  mc.send_coord(Coord.X.value, -40, 70)

myBuddy

One-parameter coordinates

send_coord(id, coord, data, speed)

  • Function Send a single coordinate to the robotic arm

  • Parameters

    • id – 1/2/3 (L/R/W).

    • coord – 1 ~ 6 (x/y/z/rx/ry/rz)

    • data – Coordinate value

    • speed – 0 ~ 100

get_coord(id, joint_id)

  • Function Read a single coordinate parameter

  • Parameters

    • id (int) – 1/2/3 (L/R/W).

    • joint_id (int) – 1 - 7 (7 is gripper)

Multiparameter Coordinates

send_coords(id, coords, speed, mode)

  • Function Send all coords to robot arm.

  • Parameters

    • id – 1/2 (L/R).

    • coords – a list of coords value(List[float]), length 6, [x(mm), y, z, rx(angle), ry, rz]

    • speed – (int) 0 ~ 100

    • mode – (int) 0 - moveJ, 1 - moveL, 2 - moveC

Simple Demo

from pymycobot.mybuddy import MyBuddy
import time
mc = MyBuddy("/dev/ttyACM0", 115200)

# Get the coordinates and posture of the current head of the left arm
coords = mc.get_coords(1)
print(coords)

# Intelligently plan the route, let the head reach the coordinates of [57.0, -107.4, 316.3] in a linear manner, and maintain the attitude of [-93.81, -12.71, -163.49], and the speed is 80mm/s
mc.send_coords(1, [57.0, -107.4, 316.3, -93.81, -12.71, -163.49], 80, 1)

time.sleep(1.5)

# Intelligently plan the route, let the head reach the coordinates of [-13.7, -107.5, 223.9] in a linear manner, and maintain the attitude of [165.52, -75.41, -73.52], with a speed of 80mm/s
mc.send_coords(1, [-13.7, -107.5, 223.9, 165.52, -75.41, -73.52], 80, 1)

time.sleep(1.5)

# To change only the x-coordinate of the head of the left arm, set the x-coordinate of the head to -40. Let it plan the route intelligently and move the head to the changed position, with a speed of 70mm/s
mc.send_coord(1, 1, -40, 70)

myPalletizer

Simple Demo

  from pymycobot.mypalletizer import MyPalletizer
  from pymycobot.genre import Coord
  import time
  # import the project package

  # Initiate a MyPalletizer object
  mc = MyPalletizer("COM3", 115200)

  # # Get the current coordinates and pose of the head
  coords = mc.get_coords()
  print(coords)

  #Plan the route at random, let the head reach the coordinates of [57.0, -107.4, 316.3] in an non-linear manner at the speed is 80mm/s
  mc.send_coords([187.8, 42.1, 183.3, -159.6], 80, 0)
  # wait for 2 seconds
  time.sleep(2)

  # Plan the route at random, let the head reach the coordinates of [207.9, 47, 49.3,-159.69] in an non-linear manner at the speed is 80mm/s
  mc.send_coords([207.9, 47, 49.3,-159.69], 80, 0)
  # wait for 2 seconds
  time.sleep(2)

  #To change only the x-coordinate of the head, set the x-coordinate of the head to 20. Let it plan the route at random and move the head to the changed position at a speed of 70mm/s
  mc.send_coord(Coord.X.value, 20, 50)

myArm

Simple Demo

```python

from pymycobot.myarm import MyArm

from pymycobot.genre import Coord

import time

Initialize a MyArm object

Create object code here for windows version

mc = MyArm("/dev/ttyAMA0", 115200)

Get the current coordinates and pose of the head

coords = mc.get_coords() print(coords)

Intelligently plan the route, let the head reach the coordinates of [57.0, -107.4, 316.3, -93.81, -12.71, -163.49] in a linear manner, and maintain the attitude of [-93.81, -12.71, -163.49], the speed is 80mm/s

mc.send_coords([57.0, -107.4, 316.3, -93.81, -12.71, -163.49], 80,0)

Set the wait time to 1.5 seconds

time.sleep(1.5)

Intelligently plan the route, let the head reach the coordinates of [-13.7, -107.5, 223.9, 165.52, -75.41, -73.52] in a linear way, and maintain the attitude of [165.52, -75.41, -73.52], the speed is 80mm/s

mc.send_coords([-13.7, -107.5, 223.9, 165.52, -75.41, -73.52], 80, 0)

Set the wait time to 1.5 seconds

time.sleep(1.5)

To change only the x-coordinate of the head, set the x-coordinate of the head to 20. Let it plan the route intelligently and move the head to the changed position, with a speed of 70mm/s

mc.send_coord(Coord.X.value, 20, 70)

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