Robot gripper carrying wooden block example

1 Functional description

The robot will use the gripper to carry the wooden block from point A to point B

2 Hardware connection

Insert one side of the Lego connector into the gripper

Then insert the other side of the Lego connector into the quick-change servo

Both sides of the Lego connector are plugged in tightly

Connect the gripper wire to any interface of the quick-change servo

Connect the quick-change servo wire to the other side interface of the quick-change servo, and then connect it to the gripper socket of the robot arm base

Install the quick-change servo to the end of the robot arm

3 Module test

After the hardware is connected, the robot arm needs to be reset

from pymycobot import ultraArm,utils

if __name__=="__main__":
    arm=ultraArm(utils.get_port_list()[0])
    arm.go_zero()

Gripper test

from pymycobot import ultraArm,utils
import time

if __name__=="__main__":
    arm=ultraArm(utils.get_port_list()[0])
    arm.set_gripper_state(50,100)

Servo test

from pymycobot import ultraArm,utils
import time

if __name__=="__main__":
    arm=ultraArm(utils.get_port_list()[0])
    arm.set_gripper_state(50,100)

4 Software Usage

Use the fast moving function of myblockly to teach the grabbing point and placement point of the wooden block, and record the position information. After teaching, you need to disconnect the serial port, otherwise the serial port will be reported when running the python script. The error is that the serial port is occupied.

5 Composite Application

from pymycobot import ultraArm,utils
import time

grab_point=[217.26, 68.87, 8.0, 27.0]#Grab point coordinates
place_point=[217.26, -114.13, 10.0, 27.0]#Placement point coordinates

if __name__=="__main__":
    arm=ultraArm(utils.get_port_list()[0])
    arm.set_gripper_state(100,100)#Open the gripper first
    arm.set_angles([0,0,0,0],100)#Return to the zero point of the joint
    time.sleep(2)
    arm.set_coords([grab_point[0],grab_point[1],grab_point[2]+50,grab_point[3]],100)#Move to 50mm above the grab point
    time.sleep(2)
    arm.set_coords([grab_point[0],grab_point[1],grab_point[2],grab_point[3]],100)#Move to the grab point
    time.sleep(2)
    arm.set_gripper_state(0,100) #Clamp the gripper
    time.sleep(2)
    arm.set_coords([grab_point[0],grab_point[1],grab_point[2]+50,grab_point[3]],100)#Move to 50mm above the grab point
    time.sleep(2)

    arm.set_coords([place_point[0],place_point[1],place_point[2]+50,place_point[3]],100)#Move to 50mm above the placement point
    time.sleep(2)
    arm.set_coords([place_point[0],place_point[1],place_point[2],place_point[3]],100)#Move to the placement point
    time.sleep(2)
    arm.set_gripper_state(100,100)#Gripper open
    time.sleep(2)
    arm.set_coords([place_point[0],place_point[1],place_point[2]+50,place_point[3]],100)#Move to 50mm above the placement point
    time.sleep(2)

6 Effect display