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

1 Single-Parameter Coordinate

1.1 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

2 Multiple parameter coordinates

2.1 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.

2.2 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

3 Simple Demo

  • Codes for MyCobot:

    ```python 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/ttyUSB0"

    or "/dev/ttyAMA0"

    windows: "COM3"

    The second is the baud rate::

    M5 version is: 115200

    #

    Example:

    mycobot-M5:

    linux:

    mc = MyCobot("/dev/ttyUSB0", 115200)

    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)

  • Codes for MyPalletizer:

    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)
    

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