Robot Arm Guide

Robotic Hand Python Start Guide

NOTE:
For Python3.9 or newer versions
For more guidance about other environments, please ask our agent to provide it.

0 Receive Package from Us

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1 Preparation

Note: Recommended use Python 3.9 or newer versions

pip install -r requirements.txt

Connect the robotic arm to your computer using a network cable, then implement the following code.

from Robotic_Arm.rm_robot_interface import *

# Initialization
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# RM_SINGLE_MODE_E: Single-thread mode, non-blocking, waits for data return in a single thread.
# RM_DUAL_MODE_E: Dual-thread mode, adds a receiving thread to monitor data in the queue.
# RM_TRIPLE_MODE_E: Triple-thread mode, builds on dual-thread mode by adding a thread to monitor UDP interface data.

# Create Robotic Arm Connections
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
# change the ip address to yours
print(handle.id)

2 Main Guidance

2.1 Get information

# Get arm status
print(arm1.rm_get_current_arm_state())
# Get arm current joint degree
print(arm.rm_get_joint_degree())

# Get arm information
print(arm.rm_get_robot_info())

# Get API information
print("\nAPI Version: ", rm_api_version(), "\n")

# Get Real/Simulate Mode
print(arm.rm_set_arm_run_mode(0))
# 0 Simulate; 1 Real 

# Set Real/Simulate Mode
arm.rm_set_arm_run_mode(0) # Simulate 
arm.rm_set_arm_run_mode(1) # Real 

# Save logs to files
arm.rm_set_log_save("/home/aisha/work/rm_log.txt")

2.2 Angle Movement Method

rm_movej([joint], v, r, connect, block)

Note: When using single-thread blocking mode, please set a timeout to ensure the trajectory completes and returns within the specified time.
Note: The blend radius only takes effect when the trajectory_connect parameter is set to 1. If set to 0, the blend radius will not be applied.

Name	Type	Explanation
joint	list	Array of target angles for each joint, unit: °
v	int	Speed ratio: 1 to 100
r	int	Blend radius percentage coefficient: 0 to 100
connect	int	Trajectory Connection Flag: 0: Plan and execute the trajectory immediately without connecting it to the subsequent trajectory. 1: Plan the current trajectory with the next one, but do not execute immediately. In blocking mode, the system will return immediately even if the command is successfully sent.
block	int	Blocking Mode Setting [For Multithreading Mode]: 0: Non-blocking mode, returns immediately after sending the command. 1: Blocking mode, waits for the robotic arm to reach the target position or for planning failure before returning. [For Single-thread Mode]: 0: Non-blocking mode. Other values: Blocking mode with a timeout setting, in seconds.

# Example move [0, 20, 70, 0, 90, 0]
print(arm.rm_movej([0, 20, 70, 0, 90, 0], 20, 0, 0, 1))

2.3 Line Movement Method

rm_movel([pose], v, r, connect, block)

Name	Type	Explanation
pose	list	[Target Pose] Position unit: meters; Orientation unit: radians
v	int	Speed ratio: 1 to 100
r	int	Blend radius percentage coefficient: 0 to 100
connect	int	Trajectory Connection Flag: 0: Plan and execute the trajectory immediately without connecting it to the subsequent trajectory. 1: Plan the current trajectory with the next one, but do not execute immediately. In blocking mode, the system will return immediately even if the command is successfully sent.
block	int	Blocking Mode Setting [For Multithreading Mode]: 0: Non-blocking mode, returns immediately after sending the command. 1: Blocking mode, waits for the robotic arm to reach the target position or for planning failure before returning. [For Single-thread Mode]: 0: Non-blocking mode. Other values: Blocking mode with a timeout setting, in seconds.

# Example move [0.3, 0, 0.4, 3.141, 0, 0]
print(arm.rm_movel([0.3, 0, 0.4, 3.141, 0, 0], 20, 0, 0, 1))

2.4 Returned Parameters

Name	Type	Explanation
0	int	Success
1	int	The controller returns false if there is a parameter error or if the robotic arm’s status encounters an issue.
-1	int	Data transmission failed due to a communication issue.
-2	int	Data reception failed due to a communication issue or if the controller fails to respond for an extended period.
-3	int	Return value parsing failed due to incorrect or incomplete data format received.
-4	int	Current positioning device validation failed, indicating the device is not a joint.
-5	int	Timeout in single-thread mode due to no response received. Please ensure the timeout setting is reasonable.

3 For Multiple Robotic Arms

For multiple robotic arm connections, only the parameters for the first arm need to be initialized.

# Initialization
arm1 = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
arm2 = RoboticArm()

# Create Robotic Arm Connections
handle1 = arm1.rm_create_robot_arm("192.168.1.18", 8080)
print(handle1.id)
handle2 = arm2.rm_create_robot_arm("192.168.1.19", 8080)

3.1 Get Arm Status

print(arm1.rm_get_current_arm_state())
print(arm2.rm_get_current_arm_state())

3.2 Example: Executing Instructions

demo_movej(robot1)
demo_movej(robot1, [0, 20, 70, 0, 90, 0])
demo_movej_p(robot1, [0.3, 0, 0.3, 3.141, 0, 0])
demo_movel(robot1, [0.2, 0, 0.3, 3.141, 0, 0])
demo_movec(robot1, [0.25, 0.05, 0.3, 3.141, 0, 0], [0.25, -0.05, 0.3, 3.141, 0, 0], loop=2)


demo_movej(robot2)
demo_movej(robot2, [0, 20, 70, 0, 90, 0])
demo_movej_p(robot2, [0.3, 0, 0.3, 3.141, 0, 0])
demo_movel(robot2, [0.2, 0, 0.3, 3.141, 0, 0])
demo_movec(robot2, [0.25, 0.05, 0.3, 3.141, 0, 0], [0.25, -0.05, 0.3, 3.141, 0, 0], loop=2)


# Disconnect arm
disconnect_robot(robot1)
disconnect_robot(robot2)

4 Force Sensor

The RM65-6F robotic arm is equipped with an integrated six-dimensional force sensor at its end effector, eliminating the need for external wiring. Users can directly operate the six-dimensional force via the protocol to obtain the force data.

#Get force
print(arm.rm_get_force_data())

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