Python:

Robotic Arm Motion State Control ArmMotionControl

It is used to control the emergency stop, pause, continuation, and other motion states of the robotic arm. The following is a detailed description of the member functions of ArmMotionControl to control the emergency stop, pause, continuation, and other motion states of the robotic arm, including the method prototype, parameter description, return value, and usage demo.

Set slow stop rm_set_arm_slow_stop()

Stop on the currently running trajectory.

• Method prototype:

rm_set_arm_slow_stop(self) -> int:

• Return value: State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_arm_slow_stop())

arm.rm_delete_robot_arm()

Set quick stop rm_set_arm_stop()

Stop at the fastest speed with an unrecoverable trajectory.

• Method prototype:

rm_set_arm_stop(self) -> int:

• Return value: State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_arm_stop())

arm.rm_delete_robot_arm()

Set pause rm_set_arm_pause()

Pause on the planned trajectory with a recoverable trajectory.

• Method prototype:

rm_set_arm_pause(self) -> int:

• Return value: State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_arm_pause())

arm.rm_delete_robot_arm()

Continue motion on the current trajectoryrm_set_arm_continue()

Continue motion on the current trajectory after it has been paused.

• Method prototype:

rm_set_arm_continue(self) -> int:

• Return value: State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_arm_continue())

arm.rm_delete_robot_arm()

Delete current trajectory rm_set_delete_current_trajectory()

• Method prototype:

rm_set_delete_current_trajectory(self) -> int:

• Return value: State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_delete_current_trajectory())

arm.rm_delete_robot_arm()

Delete all trajectories rm_set_arm_delete_trajectory()

• Method prototype:

rm_set_arm_delete_trajectory(self) -> int:

• Return value: State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_arm_delete_trajectory())

arm.rm_delete_robot_arm()

Get the currently planned trajectory rm_get_arm_current_trajectory()

• Method prototype:

rm_get_arm_current_trajectory(self) -> dict[str, any]:

• Return value:dict[str,any]: a dictionary containing the following keys.
  

1. return_code(int): a state code executed by functions

0 represents success. For other error codes, please refer to the API2 Error Codes.

2. Returned planning type

Parameter	Type	Description
trajectory_type	rm_arm_current_trajectory_e	Returned planning type

3. For planning and joint space planning, it stores the angle array of current joints 1−7; for Cartesian space planning, it stores the current end effector pose.
   

Parameter	Type	Description
data	list[float]	For no planning and joint space planning, it stores the angle array of current joints 1−7; for Cartesian space planning, it stores the current end effector pose

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_get_arm_current_trajectory())

arm.rm_delete_robot_arm()