[avpai1992]

Hi guys,

I am using the offline programming using keyboard to control the robot. This is just a base for a bigger project I am working on. I am trying to move the robot to a a set position in-case it reaches singularity. The code I tried is:

Code:

# This macro allows moving a robot using the keyboard
# More information about the RoboDK API here:
# //www.sinclairbody.com/doc/en/RoboDK-API.html
# Type help("robolink") or help("robodk") for more information
# Press F5 to run the script
# Note: you do not need to keep a copy of this file, your python script is saved with the station
from robolink import * # API to communicate with RoboDK
from robodk import * # basic matrix operations
RDK = Robolink()

# Arrow keys program example

# get a robot
robot = RDK.Item('', ITEM_TYPE_ROBOT)
if not robot.Valid():
print("No robot in the station. Load a robot first, then run this program.")
pause(5)
raise Exception("No robot in the station!")

print('Using robot: %s' % robot.Name())
print('Use the arrows (left, right, up, down), Q and A keys to move the robot')
print('Note: This works on console mode only, you must run the PY file separately')

# define the move increment
move_speed = 10
robot_joints1= [ 8.805 , -13.848 , 0.000, -97.620, 0.849, 90.965, 145.752 ]
print(robot_joints1)

from msvcrt import getch
while True:
RDK.Render(True)
key = (ord(getch()))
move_direction = [0,0,0]
# print(key)
if key == 75:
print('arrow left (Y-)')
move_direction = [0,-1,0]
elif key == 77:
print('arrow right (Y+)')
move_direction = [0,1,0]
elif key == 72:
print('arrow up (X-)')
move_direction = [-1,0,0]
elif key == 80:
print('arrow down (X+)')
move_direction = [1,0,0]
elif key == 113:
print('Q (Z+)')
move_direction = [0,0,1]
elif key == 97:
print('A (Z-)')
move_direction = [0,0,-1]

# make sure that a movement direction is specified
if norm(move_direction) <= 0:
continue

# calculate the movement in mm according to the movement speed
xyz_move = mult3(move_direction, move_speed)

# get the robot joints
robot_joints = robot.Joints()

# get the robot position from the joints (calculate forward kinematics)
robot_position = robot.SolveFK(robot_joints)

# get the robot configuration (robot joint state)
robot_config = robot.JointsConfig(robot_joints)

#计算新的robot position
new_robot_position = transl(xyz_move)*robot_position
print(new_robot_position)

#计算新的robot joints
new_robot_joints = robot.SolveIK(new_robot_position)

if len(new_robot_joints.tolist()) < 6:
#print("No robot solution!! The new position is too far, out of reach or close to a singularity")
new_robot_config = robot.JointsConfig(robot_joints1)
# robot.MoveJ (robot_joints1)
#continue
else:
# calculate the robot configuration for the new joints
new_robot_config = robot.JointsConfig(new_robot_joints)



if robot_config[0] != new_robot_config[0] or robot_config[1] != new_robot_config[1] or robot_config[2] != new_robot_config[2]:
print("Warning!! Robot configuration changed!! This will lead to unextected movements!")
#print(robot_config)
#print(new_robot_config)
else:

# move the robot joints to the new position
robot.MoveJ(new_robot_joints)
#robot.MoveL(new_robot_joints)




I got the values forrobot_joints1,by printing the value of therobot.joints of mytarget position. In the code I tried inputting these joint value to the robot, to go incase it reaches singularity. I am getting no errors but the robot is not moving to the set joint values( the robot is not moving at all). I am trying to make the robot move to a target position if it encounters singularity.

Also,I understand the code and how it moves the robot end-effector on the x,y,z axis but I also wanted to know if its possible to control the rotation of the end effector or the orientation of the end effector using the keyboard ? I printed out the new_robot_position and saw that only the x,y,z, changed while the angles were constant at 0,90,0. I wanted to to if I can manipulate the angles as well using keyboard keys.

I want the starting pose to be - Pose (490.000, 0.000, 780.000, 0.000, 90.000, 0.000) and instead of moving the xyz as shown in the example, is there a way to manipulate the pose ,like adding or subracting from the above Pose value? Something like the below code (not working and wrong syntax but just show you what I mean):

Code:

x=0
y=0
z=0
a=0
b=0
c=0
robot_position= (490.000, 0.000, 780.000, 0.000, 90.000, 0.000)

from msvcrt import getch
while True:
RDK.Render(True)
key = (ord(getch()))
#move_direction = [0,0,0]
# print(key)
if key == 75:
print('arrow left (Y-)')
y=y-5
elif key == 77:
print('arrow right (Y+)')
y=y+5
elif key == 72:
print('arrow up (X-)')
x=x-5
elif key == 80:
print('arrow down (X+)')
x=x+5
elif key == 113:
print('Q (Z+)')
z=z+5
elif key == 97:
print('A (Z-)')
z=z-5

# make sure that a movement direction is specified
#if norm(move_direction) <= 0:
#continue

# calculate the movement in mm according to the movement speed
#xyz_move = mult3(move_direction, move_speed)
#print (xyz_move)

# get the robot joints
robot_joints = robot.Joints()

# get the robot position from the joints (calculate forward kinematics)
robot_position = robot.SolveFK(robot_joints)
#print(robot_position)

# get the robot configuration (robot joint state)
robot_config = robot.JointsConfig(robot_joints)

#计算新的robot position
new_robot_position.pose = (490.000+x, 0.000+y, 780.000+z, 0.000, 90.000, 0.000)#transl(xyz_move)*robot_position
#print(new_robot_position)

#计算新的robot joints
new_robot_joints = robot.SolveIK(new_robot_position)

if len(new_robot_joints.tolist()) < 6:
#print("No robot solution!! The new position is too far, out of reach or close to a singularity")
new_robot_config = robot.JointsConfig(robot_joints)
# robot.MoveJ (robot_joints1)
continue
else:
# calculate the robot configuration for the new joints
new_robot_config = robot.JointsConfig(new_robot_joints)



if robot_config[0] != new_robot_config[0] or robot_config[1] != new_robot_config[1] or robot_config[2] != new_robot_config[2]:
print("Warning!! Robot configuration changed!! This will lead to unextected movements!")
#print(robot_config)
#print(new_robot_config)
else:

# move the robot joints to the new position
robot.MoveJ(new_robot_joints)
#robot.MoveL(new_robot_joints)


[avpai1992]

Hi @Albertand @Jeremy,

Any suggestions or tips?

[Jeremy]

Hi avpai1992,

Sorry for the delay, this one slipped through our fingers.
不幸的是我不追求的人回答ion, my experience with the API is limited at the moment and Albert is out of the office for a week with limited access to email and the forum.
If he doesn't answer while he is away, I'll bring this thread to his attention as soon as he is back.

I really hope you understand.
Jeremy

[avpai1992]

Thank you and No Problem. Please let him know of this thread. I will really appreciate all the help.

[Albert]

I'm not sure I understand what you are trying to do. It looks like both sections of code are equivalent. The first version uses the movement as a vector [x,y,z] (I assume based onthisexample), the second version of the code just adds a shift along X,Y,Z coordinates.

Before running a joint or a linear movement you can test if the movement is feasible by calling:
MoveJ_Test or MoveL_Test
If the movement is not feasible, you can then bring the robot back to a location free of singularities.

More information here:
//www.sinclairbody.com/doc/en/PythonAPI/robo...MoveL_Test

[avpai1992]

Hi @Albert,

Thank you for your reply. The keyboard example given controls the direction of the robot. What I am trying to do is similar to it. I would want to control the cartesian pose of the robot using keyboard. I am trying to assign a key to control each 6 elements of the cartesian pose - X,Y,Z and the orientation angles A,B,C. For example:
if the robot pose is :

robot_position= (490.000, 0.000, 780.000, 0.000, 90.000, 0.000) # (x,y,z,a,b,c);

I want to change each of them separately using Keyboard. I hope I am clear now. Sorry for the confusion

[Albert]

In that case I recommend you to do something like this:

pose = robot.Pose() # or: pose = KUKA_2_Pose(xyzabc)
pose = pose * transl(dX,dY,dZ)*rotz(dA)*roty(dB)*rotx(dC)
robot.MoveL(pose)

Where dX,dY,dZ,dA,dB,dC are the shifts to their corresponding values (X,Y,Z,A,B,C repsectively). I assume you'll modify them one at a time.