cubituskinematics 0.0.5

Controller library for C.U.B.I.T.U.S. Robotic Arm

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.