使用RPC控制机械臂抓取物体

目标

控制机械臂和机械爪，将一个物体从一个位置抓取到另外一个位置

准备

Python3.4+
RobotIDE，可在此处下载
机械爪Python SDK，可在此处下载
RPC Server

步骤

引入需要使用的包

import grpc
import robot_pb2
import robot_pb2_grpc
# 三指机械爪
from robot_python_claw import DH3

创建RPC Client

channel = grpc.insecure_channel("192.168.1.167:50051")
stub = robot_pb2_grpc.RobotServiceStub(channel)

SSH连接到工控机，启动RPC Server

root@sia-ECS-1837:~# cd /root/
root@sia-ECS-1837:~# ls
robot_server
root@sia-ECS-1837:~# ./robot_server
...省略...
EtherCAT is not run, start simulation timer
#Control cycle =1 * Bus cycle#
create null grip!
[2020-08-18 23:24:10]  init_robot_teach
[2020-08-18 23:24:10]  set_robot_index
[2020-08-18 23:24:10]  get_robot_num
[2020-08-18 23:24:10]  get_robot_num 
SIA initialize finish
initialize finish
Server listening on 0.0.0.0:50051

此时RPC Server已经启动，开始监听50051端口

打开RobotIDE，新建连接，配置RPC Server的IP和端口等信息建立连接，连接RPC，上电将机械臂示教到抓取位置点击“保存示教关节点位置”，将此时机械臂的关节角度保存为j_1 切换到“数据”页面，此时可以看到我们保存的j_1数据点切换回“示教”页面，示教保存其它关键位置示教完成，得到关键点j_1、j_2、j_3、j_4 使用RPC获取我们示教的关节

joint_1 = stub.ReadRobjoint(robot_pb2.ReqString(reqstr="j_1"))
joint_2 = stub.ReadRobjoint(robot_pb2.ReqString(reqstr="j_2"))
joint_3 = stub.ReadRobjoint(robot_pb2.ReqString(reqstr="j_3"))
joint_4 = stub.ReadRobjoint(robot_pb2.ReqString(reqstr="j_4"))

实例化三指夹爪实例，设置夹爪加持力为50%，夹爪的三指成60°并张开至90%

dh3 = DH3()
dh3.set_force(50)
dh3.set_angle(60)
dh3.set_position(90)

自定义机械臂移动速度，然后从工控机读取转弯区域，工具和工件

speed = robot_pb2.HyySpeed(dof=6, per_flag=2, tcp_flag=0, per=[2] * 10, tcp=0.5, orl=0.5)
zone = stub.ReadZone(robot_pb2.ReqString(reqstr="z0"))
tool = stub.ReadTool(robot_pb2.ReqString(reqstr="tool0"))
wobj = stub.ReadWobj(robot_pb2.ReqString(reqstr="wobj0"))

首先让机械臂回到零点，调用RPC控制机械臂移动到第一个关键点，然后夹爪合至30%抓住物体

stub.TGetRobotNum(robot_pb2.ReqVoid())
stub.MoveA(robot_pb2.ReqMoveA(
        rjoint=joint_1,
        rspeed=speed,
        rzone=zone,
        rtool=tool,
        wobj=wobj
))
dh3.set_position(30)

移动到第2、3、4个关键点

stub.MoveA(robot_pb2.ReqMoveA(
        rjoint=joint_2,
        rspeed=speed,
        rzone=zone,
        rtool=tool,
        wobj=wobj
))
stub.MoveA(robot_pb2.ReqMoveA(
        rjoint=joint_3,
        rspeed=speed,
        rzone=zone,
        rtool=tool,
        wobj=wobj
))
stub.MoveA(robot_pb2.ReqMoveA(
        rjoint=joint_4,
        rspeed=speed,
        rzone=zone,
        rtool=tool,
        wobj=wobj
))

然后机械爪开合位置设置为90%，放下物体，然后回到零点

dh3.set_position(90)
stub.TRobotHome(robot_pb2.ReqVoid())

完整代码

import grpc
import robot_pb2
import robot_pb2_grpc
# 三指机械爪
from robot_python_claw import DH3
if __name__ == '__main__':
    channel = grpc.insecure_channel("192.168.1.167:50051")
    stub = robot_pb2_grpc.RobotServiceStub(channel)
    joint_1 = stub.ReadRobjoint(robot_pb2.ReqString(reqstr="j_1"))
    joint_2 = stub.ReadRobjoint(robot_pb2.ReqString(reqstr="j_2"))
    joint_3 = stub.ReadRobjoint(robot_pb2.ReqString(reqstr="j_3"))
    joint_4 = stub.ReadRobjoint(robot_pb2.ReqString(reqstr="j_4"))
    dh3 = DH3()
    dh3.set_force(50)
    dh3.set_angle(60)
    dh3.set_position(90)
    speed = robot_pb2.HyySpeed(dof=6, per_flag=2, tcp_flag=0, per=[3] * 10, tcp=0.5, orl=0.5)
    zone = stub.ReadZone(robot_pb2.ReqString(reqstr="z0"))
    tool = stub.ReadTool(robot_pb2.ReqString(reqstr="tool0"))
    wobj = stub.ReadWobj(robot_pb2.ReqString(reqstr="wobj0"))
    stub.TGetRobotNum(robot_pb2.ReqVoid())
    stub.MoveA(robot_pb2.ReqMoveA(
        rjoint=joint_1,
        rspeed=speed,
        rzone=zone,
        rtool=tool,
        wobj=wobj
    ))
    dh3.set_position(30)
    stub.MoveA(robot_pb2.ReqMoveA(
        rjoint=joint_2,
        rspeed=speed,
        rzone=zone,
        rtool=tool,
        wobj=wobj
    ))
    stub.MoveA(robot_pb2.ReqMoveA(
        rjoint=joint_3,
        rspeed=speed,
        rzone=zone,
        rtool=tool,
        wobj=wobj
    ))
    stub.MoveA(robot_pb2.ReqMoveA(
        rjoint=joint_4,
        rspeed=speed,
        rzone=zone,
        rtool=tool,
        wobj=wobj
    ))
    dh3.set_position(90)
    stub.TRobotHome(robot_pb2.ReqVoid())