Joint Control

For serial multi-joint robots, the control of joint space is to control the variables of each joint of the robot, and the goal is to make each joint of the robot reach the target position at a certain speed.

Note: When setting the angle, the limit of different series of robot arms is different. For details, please refer to the parameter introduction of the corresponding model.

Single joint control

send_angle(id, degree, speed)

• Function: Send the specified single joint movement to the specified angle

• Parameter description:

• id: Represents the joint of the robot arm. Use numbers 1-6 to represent it.

• degree: Represents the angle of the joint

• speed: Represents the speed of the robot arm movement, ranging from 0 to 100

• Return value: 1

set_encoder(joint_id, encoder， sp)

• Function: Send the specified single joint movement to the specified potential value

• Parameter description:

• joint_id: Represents the joint of the robot arm. Use numbers 1-6 to represent it.

• encoder: represents the potential value of the robot arm, the value range is 0 ~ 4096
• sp: Indicates the speed of the robot arm movement, ranging from 1 to 100
• Return value: 1

Multi-joint control

get_angles()

• Function: Get all joint angles

• Return value: list A list of floating point values, representing the angles of all joints

send_angles(degrees, speed)

• Function: Send all angles to all joints of the robot arm
• Parameter description:
• degrees: (List[float]) contains the angles of all joints. the representation is: [20,20,20,20,20,20]
• speed: Indicates the speed of the robot arm, the value range is 0-100
• Return value: None

set_encoders(encoders, sp)

• Function: Send potential values ​​to all joints of the robot arm
• Parameter description:
• encoder: Indicates the potential value of the robot arm, the value range is 0 ~ 4096, the length is 6, representation method is: [2048,2048,2048,2048,2048,2048]
• sp: Indicates the speed of the robot arm, the value range is 0-100
• Return value: 1

sync_send_angles(degrees, speed, timeout=15)

• Function: Synchronously send angles and return when reaching the target point
• Parameter description:
• degrees: List of angle values ​​of each joint List[float]
• speed: (int) The speed of the robot arm, the value range is 0-100
• timeout: The default time is 15s
• Return value: 1

get_radians()

• Function: Get the radians of all joints
• Return value: list contains a list of all joint radian values

send_radians(radians, speed)

• Function: Send radian values ​​to all joints of the robot arm
• Parameter description:
• radians: list Indicates the radian value of the robot arm, the value range is -5~5
• Return value: 1

Example use

from pymycobot.mycobot280 import MyCobot280
import time

# MyCobot280 Class initialization requires two parameters: serial and baud rate

# Initialize a MyCobot280 object
# Here is the object code for the JN version
mc = MyCobot280("/dev/ttyTHS1", 1000000)
# By passing the angle parameter, each joint of the robot arm moves to the corresponding position [0, 0, 0, 0, 0, 0]
mc.send_angles([0, 0, 0, 0, 0, 0], 50)

# Set the waiting time to ensure that the robot has reached the specified position
time.sleep(2.5)

# Move joint 1 to the position of 90
mc.send_angle(1, 90, 50)

# Set the waiting time to ensure that the robot has reached the specified position
time.sleep(2)

# The following code can make the robot swing left and right
# Set the number of loops
num=5
while num > 0:
    # Move joint 2 to the position of 50
    mc.send_angle(2, 50, 50)

    # Set the waiting time to ensure that the robot has reached the specified position
    time.sleep(1.5)

    # Move joint 2 to the position of -50
    mc.send_angle(2, -50, 50)

    # Set the waiting time to ensure that the robot has reached the specified position
    time.sleep(1.5)

    num -= 1

# Retract the robot arm. You can swing the robot arm manually, and then use the get_angles() function to get the coordinate sequence.
# Use this function to make the robot arm reach the position you want.
mc.send_angles([88.68, -138.51, 155.65, -128.05, -9.93, -15.29], 50)

# Set the waiting time to ensure that the robot arm has reached the specified position
time.sleep(2.5)

# Relax the robot arm and swing it manually
mc.release_all_servos()