Controller library for C.U.B.I.T.U.S. Robotic Arm
Project description
Cubitus Kinematics Package
This is the custom made package for Cubitus Robotic Arm. This package includes matplotlib plotting as well as realtime sending the data to the robotic manipulator itself.
Installation
Run the following to install the package :
$ pip install cubituskinematics
Usage
First of all, you need to import cubituskinematics package/library into your project's python file.
import cubituskinematics as ck
# or you could also use (but not recommended):
from cubituskinematics import *
Next you can test it using simple commands as shown below :
Point
# moves to one certain point in 3D space
ck.move_to_point(210, 0, 170)
NOTE: if you want to know more about a function, hover on its name to reveal more information
Line
# declare two points (each as a list)
A = [200, 0, 120]
B = [200, 0, 260]
# performs a line movement
ck.perform_line(A, B, sampling=50, repeat=1)
# use 'sampling' and 'repeat' arguments to determine sampling and number of repetitions
Circle
# declare three points (each as a list)
A = [150, 0, 200]
B = [185, -80, 190]
C = [210, 30, 150]
# performs a circle movement
ck.perform_circle(A, B, C, sampling=50, repeat=1)
# use 'sampling' and 'repeat' arguments to determine sampling and number of repetitions
Parabola
# define vertex point
V = [217, 0, 150]
# performs a parabolic movement
ck.perform_parabola(0.03, 30, V, sampling=50, repeat=1)
# use 'sampling' and 'repeat' arguments to determine sampling and number of repetitions
BĂ©zier curve
# declare three points (each as a list)
A = [230, 0, 140]
B = [280, 20, 280]
C = [240, 50, 150]
# performs a bézier curve movement
ck.perform_bezier(A, B, C, sampling=50, repeat=1)
# use 'sampling' and 'repeat' arguments to determine sampling and number of repetitions
Custom XML file
To use a custom-made .xml file you'll need to load it into the system like so :
Note that your .xml file MUST be in the same folder as your .py script, otherwise fails to proceed !
# declare a name of your .xml file
xml_name = "manipulator.xml" # or you can use just "manipulator"
# it is very important to have __file__ as a first argument
ck.load_xml(__file__, xml_name)
Simple User Interface Terminal
If you want to use user interface use one simple command as shown below :
# opens user interface which acts like a simple command line terminal
ck.run_ui()
Usage
After the command (shown above) is executed, this should be printed
+------------- CUBITUS ROBOTIC ARM -------------+
| TUKE FEI KKUI |
+------------- USER INTERFACE v1.2 -------------+
Enter 'help' to show list of all comands.
When you type 'help' as show below
>> help
the list of all possible commands appears on the screen. Each of these commands can be used to interface with the robotic arm itself via command line terminal :
>> help Shows all commands.
>> loadxml Loads user defined XML into system. (needs external command)
>> grip Sets gripper state to *hold* position.
>> ungrip Sets gripper state to *open* position.
>> eefangle Sets end effector angle (X Y Z angles).
>> perform Perform a specific movement based on input.
>> equation Perform a custom curve based on input.
>> about Show application info.
>> reset Reset application.
>> clear Clear terminal.
>> exit Exit interface.
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