# Import EEZYbotARM library from easyEEZYbotARM.kinematic_model import EEZYbotARM_Mk2 from easyEEZYbotARM.kinematic_model import EEZYbotARM_Mk1 # initial joint angles jointAngle1 = 0 jointAngle2 = 70 jointAngle3 = -100 # Create an EEZYbotARM Mk2 object myRobotArm = EEZYbotARM_Mk2(jointAngle1, jointAngle2, jointAngle3) # Plot it myRobotArm.plot() # Create an EEZYbotARM Mk1 object myRobotArm = EEZYbotARM_Mk1(jointAngle1, jointAngle2, jointAngle3) # Plot it myRobotArm.plot()
def __init__(self, arduino_port = "/dev/ttyUSB0"):
self.arduino = arduinoController(port=arduino_port)
self.arduino.openSerialPort()
self.arm = EEZYbotARM_Mk2(initial_q1=0, initial_q2=90, initial_q3=-90)
self.homePos = [0, 110, -140]
self.return_home()
# The servos are plugged into the following pin positions on the PCA9685 board:
# Servo_q1 -> EzzyBot base (q1) -> PCA9685 pin 1
# Servo_q2 -> Main arm (q2) -> PCA9685 pin 2
# Servo_q3 -> Horarm (q3) -> PCA9685 pin 3
# Servo_EE -> End Effector (EE) -> PCA9685 pin 0
# Import EEZYbotARM library
from easyEEZYbotARM.kinematic_model import EEZYbotARM_Mk2
from easyEEZYbotARM.serial_communication import arduinoController
# Insert your Arduino serial port here to initialise the arduino controller
myArduino = arduinoController(port="COM3")
myArduino.openSerialPort()
# Initialise kinematic model with initial joint angles (home position)
myVirtualRobotArm = EEZYbotARM_Mk2(
initial_q1=0, initial_q2=90, initial_q3=-130)
# Plot it
myVirtualRobotArm.plot()
# Define end effector open and closed angle
servoAngle_EE_closed = 10
servoAngle_EE_open = 90
# Calculate the current servo angles
servoAngle_q1, servoAngle_q2, servoAngle_q3 = myVirtualRobotArm.map_kinematicsToServoAngles()
# Send the movement command to the arduino. The physical EEZYbotARM will move to this position
myArduino.communicate(data=myArduino.composeMessage(servoAngle_q1=servoAngle_q1,
servoAngle_q2=servoAngle_q2,
servoAngle_q3=servoAngle_q3,
servoAngle_EE=servoAngle_EE_open))
# Import EEZYbotARM library
from easyEEZYbotARM.kinematic_model import EEZYbotARM_Mk2
# Initialise robot arm with initial joint angles
myRobotArm = EEZYbotARM_Mk2(initial_q1=0, initial_q2=70, initial_q3=-100)
myRobotArm.plot() # plot it
# Assign cartesian position where we want the robot arm end effector to move to
# (x,y,z in mm from centre of robot base)
x = 240 # mm
y = 85 # mm
z = 200 # mm
# Compute inverse kinematics
a1, a2, a3 = myRobotArm.inverseKinematics(x, y, z)
# Print the result
print(
'To move the end effector to the cartesian position (mm) x={}, y={}, z={}, the robot arm joint angles (degrees) are q1 = {}, q2= {}, q3 = {}'
.format(x, y, z, a1, a2, a3))
# Visualise the new joint angles
myRobotArm.updateJointAngles(q1=a1, q2=a2, q3=a3)
myRobotArm.plot()
# Import EEZYbotARM library
from easyEEZYbotARM.kinematic_model import EEZYbotARM_Mk2
from easyEEZYbotARM.serial_communication import arduinoController
import time
import easyEEZYbotARM
import cv2 as cv
from imutils.video import VideoStream
# Insert your Arduino serial port here to initialise the arduino controller
myArduino = arduinoController(port="/dev/ttyUSB0")
myArduino.openSerialPort()
import numpy as np
# Initialise kinematic model with initial joint angles (home position)
robot = EEZYbotARM_Mk2(
initial_q1=0, initial_q2=90, initial_q3=-90)
# Plot it
#myVirtualRobotArm.plot()
# Define end effector open and closed angle
servoAngle_EE_closed = 15
servoAngle_EE_open = 90
# Calculate the current servo angles
servoAngle_q1, servoAngle_q2, servoAngle_q3 = robot.map_kinematicsToServoAngles()
print("Initial = , ", servoAngle_q1, ", ", servoAngle_q2, ", ", servoAngle_q3)
# a1 = 0
# a2 = 45
# a3 = -45
# x, y, z = robot.forwardKinematics(q1=a1, q2=a2, q3=a3)
# print("xyz = , ", x, ", ", y, ", ", z)