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Robot palletizing and handling case
Function description: The robot moves the wood block from point A to point B
1 Firmware burning
Since the robot needs to use Cartesian motion, it is necessary to burn the pico firmware and basic firmware that support Cartesian motion. However, the firmware that supports Cartesian motion has not been released on mystudio and can only be obtained by contacting after-sales personnel.
2 pymycobot installation
If you want to use Cartesian motion, you need to install or update pynycobot. Open the computer terminal and execute the following command to install or update pymycobot
机器人码垛搬运案例
功能说明：机器人将木块从A点搬运到B点
1 固件烧录
由于机器人需要使用笛卡尔运动，所以需要烧录支持笛卡尔运动的pico固件和basic的固件，但目前支持笛卡尔运动的固件并未发布到mystudio上，只能通过联系售后人员进行获取。
2 pymycobot安装
如果要使用笛卡尔运动，需要安装或更新pynycobot,打开电脑终端，执行下面指令进行安装或更新pymycobot
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pip install pymycobot --upgrade
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3 Preparation
Before connecting the robot arm to 24V, manually adjust the robot arm to the posture shown in the figure below, and then connect the 24V power supply and communication data cable in turn. There should be no debris around the robot arm to avoid collision
Make sure the base screen displays ok
4 Keyboard control
After running the following program, the robot arm will first move to an initial position, and then print the key prompt information in the terminal. Press the corresponding key according to the terminal information to control the robot movement
3 准备工作
在机械臂接入24V前，先手动将机械臂调整到下图姿态，再依次接入24V电源和通信数据线，机械臂周围不要有杂物，避免发生碰撞
确保底座屏幕显示ok
4 键盘控制
运行下面程序后，机械臂会先移动到一个初始位置，之后会在终端打印按键提示信息，根据终端信息按下对应按键即可控制机器人运动
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import threading
from pymycobot import MyArmMControl, utils
import keyboard
import time
m = MyArmMControl(utils.get_port_list()[0],1000000)
def init():
# 设置初始角度
m.write_angles([-10.19, 8.62, 30.65, 2.19, 50.53, -4.83], 100)
time.sleep(1)
m.set_gripper_state(0,100)
time.sleep(1)
# 用于键盘输入检测的函数
def keyborad_ctrl():
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print("Start control...")
print("Press the W keyboard to move in the X+ direction")
print("Press the S keyboard to move in the X- direction")
print("Press the D keyboard to move in the Y+ direction")
print("Press the A keyboard to move in the Y- direction")
print("Press the Q keyboard to move in the Z+ direction")
print("Press the Z keyboard to move in the Z- direction")
print("Press the X keyboard to move in the J6+ direction")
print("Press the E keyboard to move in the J6- direction")
print("Press the F keyboard to get the current coordinates")
print("Press the ESC keyboard to end the program")
blocked_keys = ['w', 'a', 's', 'd', 'q', 'z','f','e','x']
for key in blocked_keys:
keyboard.block_key(key)
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print("开始控制...")
print("按下键盘W,往X+方向运动")
print("按下键盘S,往X-方向运动")
print("按下键盘D,往Y+方向运动")
print("按下键盘A,往Y-方向运动")
print("按下键盘Q,往Z+方向运动")
print("按下键盘Z,往Z-方向运动")
print("按下键盘X,往J6+方向运动")
print("按下键盘E,往J6-方向运动")
print("按下键盘F,获取当前坐标")
print("按下键盘ESC,结束程序")
blocked_keys = ['w', 'a', 's', 'd', 'q', 'z','f','e','x']
for key in blocked_keys:
keyboard.block_key(key)
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key_processed = {
'w': False,
'a': False,
's': False,
'd': False,
'q': False,
'z': False,
'f':False,
'e': False,
'x':False,
}
else_executed = False
try:
while True:
if keyboard.is_pressed('esc'):
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print("Exit control...")
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print("退出控制...")
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break
for key in blocked_keys:
if keyboard.is_pressed(key) and not key_processed[key]:
threading.Thread(target=handle_key, args=(key,)).start()
key_processed[key] = True
else_executed = False
if all(not keyboard.is_pressed(key) for key in blocked_keys) and not else_executed:
m.stop()
else_executed = True
for key in key_processed:
if not keyboard.is_pressed(key):
key_processed[key] = False
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time.sleep(0.01)
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time.sleep(0.01)
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finally:
keyboard.unhook_all()
def handle_key(key):
if key == 'w':
m.jog_coord(1, 1, 60)
elif key == 'a':
m.jog_coord(2, 0, 60)
elif key == 'd':
m.jog_coord(2, 1, 60)
elif key == 's':
m.jog_coord(1, 0, 60)
elif key == 'q':
m.jog_coord(3, 1, 60)
elif key == 'z':
m.jog_coord(3, 0, 60)
elif key == 'e':
m.jog_angle(6,0,50)
elif key == 'x':
m.jog_angle(6,1,50)
elif key == 'f':
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print("Current coordinates=",m.get_coords())
if __name__ == "__main__":
init()
keyborad_ctrl()
When the robot reaches the target point, record the current coordinates and close the program
print("当前坐标=",m.get_coords())
if name == "main": init() keyborad_ctrl()
当控制机器人到达目标点后，记录下当前坐标，再关闭程序
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<img src="./img/3.jpg" alt="" width="50%" height="50%">
<img src="./img/4.png" alt="" width="50%" height="50%">
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## 5 Case reproduction
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## 5 案例复现
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```python
from pymycobot import MyArmMControl, utils
import time
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init_angles=[-10.19, 8.62, 30.65, 2.19, 50.53, -4.83]#6 joint angles at the initial position
target_point=[277.7, -14.6, -7.5, 178.74, -2.04, 174.17]#Coordinate position of the gripping target
m = MyArmMControl(utils.get_port_list()[0],1000000)
if __name__=="__main__":
m.set_gripper_state(0,100)#Open the gripper first
time.sleep(1)
m.write_angles(init_angles,100)#Move to the initial position
time.sleep(2)
m.write_coords([target_point[0],target_point[1],target_point[2]+50,target_point[3],target_point[4],target_point[5]],100,1)#Move to 50mm above the gripping point
time.sleep(2)
m.write_coords([target_point[0],target_point[1],target_point[2],target_point[3],target_point[4],target_point[5]],100,1)#Move to the gripping point
time.sleep(2)
m.set_gripper_state(1,100)#Gripper closed
time.sleep(1)
m.write_coords([target_point[0],target_point[1],target_point[2]+50,target_point[3],target_point[4],target_point[5]],100,1)#Move to 50mm above the gripping point
time.sleep(2)
m.write_coords([target_point[0],target_point[1]+100,target_point[2]+50,target_point[3],target_point[4],target_point[5]],100,1)#Move to 50mm above the placement point
time.sleep(2)
m.write_coords([target_point[0],target_point[1]+100,target_point[2],target_point[3],target_point[4],target_point[5]],100,1)#Move to the placement point
time.sleep(2)
m.set_gripper_state(0,100)#Gripper open
time.sleep(1)
m.write_coords([target_point[0],target_point[1]+100,target_point[2]+50,target_point[3],target_point[4],target_point[5]],100,1)#Move to 50mm above the placement point
time.sleep(2)
6 Effect display
======= init_angles=[-10.19, 8.62, 30.65, 2.19, 50.53, -4.83]#初始位置的6个关节角度 target_point=[277.7, -14.6, -7.5, 178.74, -2.04, 174.17]#抓取目标的坐标位置
m = MyArmMControl(utils.getportlist()[0],1000000)
if name=="__main":
m.set_gripper_state(0,100)#先张开夹爪
time.sleep(1)
m.write_angles(init_angles,100)#运动初始位置
time.sleep(2)
m.write_coords([target_point[0],target_point[1],target_point[2]+50,target_point[3],target_point[4],target_point[5]],100,1)#运动到抓取点上方50mm
time.sleep(2)
m.write_coords([target_point[0],target_point[1],target_point[2],target_point[3],target_point[4],target_point[5]],100,1)#运动到抓取点
time.sleep(2)
m.set_gripper_state(1,100)#夹爪闭合
time.sleep(1)
m.write_coords([target_point[0],target_point[1],target_point[2]+50,target_point[3],target_point[4],target_point[5]],100,1)#运动到抓取点上方50mm
time.sleep(2)
m.write_coords([target_point[0],target_point[1]+100,target_point[2]+50,target_point[3],target_point[4],target_point[5]],100,1)#运动到放置点上方50mm
time.sleep(2)
m.write_coords([target_point[0],target_point[1]+100,target_point[2],target_point[3],target_point[4],target_point[5]],100,1)#运动到放置点
time.sleep(2)
m.set_gripper_state(0,100)#夹爪张开
time.sleep(1)
m.write_coords([target_point[0],target_point[1]+100,target_point[2]+50,target_point[3],target_point[4],target_point[5]],100,1)#运动到放置点上方50mm
time.sleep(2)
```
6 效果展示
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