MCU door opening training

1. Hardware deployment

1.1 Hardware list

1.2 Hardware Connection

1. Remove the screws securing the cover on the manipulator base.

   

2. Open the cover of the manipulator base, and fasten the manipulator base to the vehicle body through the mounting holes using M6×16 screws.

   

3. Install the screws to secure the cover of the manipulator base.

   

4. Mount the force-controlled gripper onto the gripper interface of MyCobot Pro630.

   a. Secure the flange of the force-controlled gripper to the end effector.

   

   b. Connect the force-controlled gripper to the flange.

   

   c. Connect the M8 cable to the force-controlled gripper.

   

   d. Connect the M8 cable to the manipulator.

   

   e. The finished assembly is shown in the figure below.

   

5. Connect the emergency stop.

   

6. With myAGV Pro powered off, connect the input end of the adapter cable to the vehicle body, and connect the output end to the manipulator power supply.

   

7. After connecting the emergency stop knob, turn it clockwise to release it, then press the power switches of the manipulator and mobile robot.

   

2. Software deployment

2.1 MyCobot Pro630 usage

Please visit Basic Function Usage for learning

2.2 myAGVPro firmware burning

Burn the firmware by visiting myAGVPro How to Burn Firmware chapter

3. Source code download

Download the MyCobot Pro630MCU door opening training handle control case source code to your local computer

3.1 Download source code

1. Use git tool to download source code to local

    git clone https://github.com/elephantrobotics/pymycobot.git
   

2. Use browser to visit the URL to download source code compressed package

3. Visit https://github.com/elephantrobotics/pymycobot.git

4. Click the Code button

5. Click the Download ZIP button
6. After downloading, unzip to any folder

3.2 Enter the myAGVPro_Composite_Kit directory

Use the cd command to enter the pymycobot/demo/myAGVPro_Composite_Kit directory

cd pymycobot/demo/myAGVPro_Composite_Kit

3.3 Download dependencies

Use the pip command to download dependencies

pip install -r requirements.txt

3.4 Modify configuration

1. Open the main.py file and change the value of COMPOSITE_KIT_TYPE to MyCobotPro630

    ...
    # ##############################################################################################
    # Composite kit configuration
    # ##############################################################################################
    COMPOSITE_KIT_TYPE = "MyCobotPro630"  # MyCobotPro630, MyCobot320, MyArmM750, Undefined
    DEBUG = False
    ...
   

2. Configure MyCobot Pro630 TCP IP and port, change COMPOSITE_KIT_HOST to the IP address of MyCobot Pro630, the default port is 5001

   Note: This case uses the remote control function of MyCobot Pro630, pay attention to the following issues:

   1. Make sure MyCobot Pro630 and myAGvPro are in the same LAN
   2. Make sure the roboflow program in MyCobot Pro630 has been started
   3. Make sure the IP address and port number of MyCobot Pro630 are correct

   ...
   # ##############################################################################################
   # MyCobot Pro630 Configuration
   # ##############################################################################################
   COMPOSITE_KIT_HOST = "192.168.1.234"
   COMPOSITE_KIT_PORT = 5001
   ...
   

   • How to get the IP address of MyCobot Pro630

     1. You can get the IP address of MyCobot Pro630 by using the ip a command in the system

        

     2. You can get it through the roboflow program

        

3.5 Run source code

Use the python command to run the source code

python main.py

4. Quick experience

The myAGVPro+MyCobotPro630 handle control function is defined as follows:

Note: Before starting the program, you need to connect the handle receiver to the USB port of myAGV Pro. After the program is started, when the handle receiver is disconnected, the program will automatically exit