ECO65抓取试管demo

系统：Windows11

硬件设备：ECO65机械臂、钧舵夹爪×2、试管、试管架

编程语言：python3.9

编程IDE：Pycharm

SDK版本：4.2.8

第一步、硬件安装如下图所示。

图1 夹爪1

图2 夹爪2

 

图3 ECO65

第二步、创建工程文件夹，将log_setting.py、RM_Base.dll、robotic_arm.py放到文件夹中，再新建一个py文件文件夹结构如图所示。

图4 文件夹结构

第三步、在demo.py编写以下程序。

import socket

import time

import json

from robotic_arm import *

port = 8080

client1 = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

# 左臂

Left = '192.168.1.18'

# 右臂

Right = '192.168.1.19'

left_robot = Arm(ECO65, Left)

right_robot = Arm(RM65, Right)

poDIAN2 = [-0.296145, -0.165672, 0.194378, 3.138, -0.004, 0]

#过渡点

poDIAN2GD = [-0.296145, -0.165672, 0.234378, 3.138, -0.004, 0]

poDIAN2H = [-0.296157, -0.165673, 0.333832, 3.138, -0.004, 0]

poDIAN4GD = [-0.359668, 0.106477, 0.205197, 3.152, -0.002, 0.047]

poDIAN4 = [-0.359674, 0.106474, 0.198199, 3.152, -0.002, 0.047]

poDIAN4H = [-0.359687, 0.106453, 0.293503, 3.152, -0.002, 0.047]

# 全局变量用于判断IO状态

IO_state_value = 0

def Robot_instruct_re(lr, instruct):

    client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

    host = lr

    port = 8080

    client.connect((host, port))

    print('Robot_right_connect--OK')

    control = instruct

    client.send(control.encode('utf-8'))

    time.sleep(0.5)

    result = client.recv(1024).decode()

    print(result)

    client.close()

    return result

def Robot_instruct(lr, instruct):

    client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

    host = lr

    port = 8080

    client.connect((host, port))

    print('Robot_right_connect--OK')

    control = instruct

    client.send(control.encode('utf-8'))

    time.sleep(0.5)

    result = client.recv(1024).decode()

    print(result)

    client.close()

# 关闭socket

def Robot_close(lr):

    client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

    host = lr

    port = 8080

    client.connect((host, port))

    print('Robot_close--OK')

client.close()

# 打开socket

def Robot_open(lr):

    client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

    host = lr

    port = 8080

    client.connect((host, port))

    print('Robot_open--OK')

speed2h_4h = 100

if __name__ == "__main__":

counter = 0

# 右臂打开控制器modbus

    while True:

        right_robot.Set_Modbus_Mode(0, 115200, 1, True)

        time.sleep(1)

    # 夹爪2初始化

        right_robot.Write_Registers(0, 1000, 1, [0, 0], 9, False)

        time.sleep(1)

    # 夹爪2上使能

        right_robot.Write_Registers(0, 1000, 1, [0, 1], 9, False)

        time.sleep(3)

#松开夹爪2

        right_robot.Write_Registers(0, 1000, 3, [0, 9, 0, 0, 255, 255], 9, False)

        time.sleep(1)

    # 左臂打开末端modbus

        left_robot.Set_Modbus_Mode(1, 115200, 1, True)

        time.sleep(1)

    # 夹爪1初始化

        left_robot.Write_Registers(1, 1000, 2, [0, 0, 0, 0], 9, True)

    # 夹爪1上使能

        left_robot.Write_Registers(1, 1000, 2, [0, 1, 0, 1], 9, True)

    # 夹爪1旋转使能

        left_robot.Write_Registers(1, 1004, 4, [1, 104, 32, 32, 1, 104, 0, 2], 9, True)

    # 松开夹爪1

        left_robot.Write_Registers(1, 1000, 1, [1, 11], 9, False)

        time.sleep(4)

# 到点2H

        left_robot.Movel_Cmd(poDIAN2H, 50, 0, True)

    # 到点2

        left_robot.Movel_Cmd(poDIAN2, 20, 0, True)

        time.sleep(2)

    # 左臂夹爪1闭合

        left_robot.Write_Registers(1, 1000, 1, [6, 11], 9, False)

        time.sleep(3)

    # 上提到点2H

        left_robot.Movel_Cmd(poDIAN2H, 70, 0, True)

    # 到点4H

        left_robot.Movel_Cmd(poDIAN4H, speed2h_4h, 0, True)

        time.sleep(2)

    # 再到点4

        left_robot.Movel_Cmd(poDIAN4, 40, 0, True)

        time.sleep(2)

# 夹爪2闭合

        right_robot.Write_Registers(0, 1000, 1, [4, 11], 9, False)

        time.sleep(2)

# 夹爪1反转，拧松盖子

        left_robot.Write_Registers(1, 1004, 4, [1, 104, 32, 32, -5, 104, 0, 2], 9, False)

        time.sleep(1)

    # 到点4GD

        left_robot.Movel_Cmd(poDIAN4GD, 1, 0, True)

        time.sleep(1)

    # 到点4H

        left_robot.Movel_Cmd(poDIAN4H, 50, 0, True)

        time.sleep(1)

    # 运行到点2H

        left_robot.Movel_Cmd(poDIAN2H, speed2h_4h, 0, True)

        time.sleep(1)

# 再到点4H

        left_robot.Movel_Cmd(poDIAN4H, speed2h_4h, 0, True)

        time.sleep(1)

    # 再到点4GD

        left_robot.Movel_Cmd(poDIAN4GD, 50, 0, True)

        time.sleep(1)

    # 夹爪1正转，拧紧盖子

        left_robot.Write_Registers(1, 1004, 4, [1, 104, 32, 32, 3, 104, 0, 2], 9, False)

    # 到点4

        left_robot.Movel_Cmd(poDIAN4, 1, 0, True)

        time.sleep(2)

# 松开右臂夹爪2

        right_robot.Write_Registers(0, 1000, 3, [0, 9, 0, 0, 255, 255], 9, False)

        time.sleep(2)

        # 到点4H

        left_robot.Movel_Cmd(poDIAN4H, 60, 0, True)

        time.sleep(1)

    # 到点2H

        left_robot.Movel_Cmd(poDIAN2H, speed2h_4h, 0, True)

        time.sleep(1)

    # 到点2

        left_robot.Movel_Cmd(poDIAN2GD, 60, 0, True)

        time.sleep(2)

 # 松开夹爪1

        left_robot.Write_Registers(1, 1000, 1, [1, 11], 9, False)

        time.sleep(1)

    # 到点2H

        left_robot.Movel_Cmd(poDIAN2H, 70, 0, True)

        time.sleep(1)

        right_robot.Close_Modbus_Mode(0,True)

        left_robot.Close_Modbus_Mode(1,True)

        counter += 1

        print("已运行：",counter,"次")