Python:
Robotic Arm Motion Parameter ConfigurationArmTipVelocityParameters It is used to set and get the motion parameters of the robotic arm. The following is a detailed description of the member functions of the robotic arm motion parameter ArmTipVelocityParameters, including the method prototype, parameter description, return value, and usage demo.
Set the maximum linear speed of the end effectorrm_set_arm_max_line_speed()
- Method prototype:
python
rm_set_arm_max_line_speed(self, speed: float) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
speed | float | Maximum linear speed of the end effector, in m/s. |
- Return value: State codes executed by functions:
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Usage demo
python
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_max_line_speed(0.25))
arm.rm_delete_robot_arm()Set the maximum linear acceleration of the end effectorrm_set_arm_max_line_acc()
- Method prototype:
python
rm_set_arm_max_line_acc(self, acc: float) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
acc | float | Maximum linear acceleration of the end effector, in m/s^2. |
- Return value: State codes executed by functions:
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Usage demo
python
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_max_line_acc(1.6))
arm.rm_delete_robot_arm()Set the maximum angular speed of the end effectorrm_set_arm_max_angular_speed()
- Method prototype:
python
rm_set_arm_max_angular_speed(self, speed: float) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
speed | float | Maximum angular speed of the end effector, in rad/s. |
- Return value: State codes executed by functions:
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Usage demo
python
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_max_angular_speed(0.6))
arm.rm_delete_robot_arm()Set the maximum angular speed of the end effectorrm_set_arm_max_angular_acc()
- Method prototype:
python
rm_set_arm_max_angular_acc(self, acc: float) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
acc | float | Maximum angular acceleration of the end effector, in rad/s^2 |
- Return value: State codes executed by functions:
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Usage demo
python
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_max_angular_acc(4))
arm.rm_delete_robot_arm()Set the end effector parameters to defaultsrm_set_arm_tcp_init()
- Method prototype:
python
rm_set_arm_tcp_init(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
python
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)
# Initialize the parameters of the robotic arm, and the end effector parameters will be restored to defaults. The defaults of the end effector are:
# Linear speed: 0.1 m/s; linear acceleration: 0.5 m/s²
# Angular speed: 0.2 rad/s; angular acceleration: 1 rad/s²
print(arm.rm_set_arm_tcp_init())
arm.rm_delete_robot_arm()Set the dynamic collision stage of the robotic armrm_set_collision_state()
- Method prototype:
python
rm_set_collision_state(self, stage: int) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
stage | int | Stage: 0-8, 0: no collision detection, 8: most sensitive collision detection. |
- Return value: State codes executed by functions:
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Usage demo
python
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)
# Set the collision stage of the robotic arm to 1
print(arm.rm_set_collision_state(1))
arm.rm_delete_robot_arm()Get the collision stage rm_get_collision_stage()
- Method prototype:
python
rm_get_collision_stage(self) -> tuple[int, int]:- Return value:
tuple[int,int]: a tuple containing two elements.
- State codes executed by functions
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Collision stage
| Parameter | Type | Description |
|---|---|---|
| 0～8 | int | Stage: 0-8, 0: no collision detection, 8: most sensitive collision detection. |
- Usage demo
python
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_collision_stage())
arm.rm_delete_robot_arm()Get the maximum linear speed of the end effectorrm_get_arm_max_line_speed()
- Method prototype:
python
rm_get_arm_max_line_speed(self) -> tuple[int, float]:- Return value:
tuple[int,int]: a tuple containing two elements.
- State codes executed by functions
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Maximum linear speed of the end effector
| Parameter | Type | Description |
|---|---|---|
| - | float | Maximum linear speed of the end effector, in m/s. |
- Usage demo
python
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_max_line_speed())
arm.rm_delete_robot_arm()Get the maximum linear acceleration of the end effectorrm_get_arm_max_line_acc()
- Method prototype:
python
rm_get_arm_max_line_acc(self) -> tuple[int, float]:- Return value:
tuple[int,float]: a tuple containing two elements.
- State codes executed by functions
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Maximum linear acceleration of the end effector
| Parameter | Type | Description |
|---|---|---|
| - | float | Maximum linear acceleration of the end effector, in m/s^2. |
- Usage demo
python
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_max_line_acc())
arm.rm_delete_robot_arm()Get the maximum angular speed of the end effectorrm_get_arm_max_angular_speed()
- Method prototype:
python
rm_get_arm_max_angular_speed(self) -> tuple[int, float]:- Return value:
tuple[int,float]: a tuple containing two elements.
- State codes executed by functions
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Maximum angular speed of the end effector
| Parameter | Type | Description |
|---|---|---|
| - | float | Maximum angular speed of the end effector, in rad/s. |
- Usage demo
python
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_max_angular_speed())
arm.rm_delete_robot_arm()Get the maximum angular acceleration of the end effectorrm_get_arm_max_angular_acc()
- Method prototype:
python
rm_get_arm_max_angular_speed(self) -> tuple[int, float]:- Return value:
tuple[int,float]: a tuple containing two elements.
- State codes executed by functions
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Maximum angular acceleration of the end effector
| Parameter | Type | Description |
|---|---|---|
| - | float | Maximum angular acceleration of the end effector, in rad/s^2. |
- Usage demo
python
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_max_angular_acc())
arm.rm_delete_robot_arm()Set the Robot Arm DH Parameters rm_set_DH_data()
- Method prototype:
python
rm_set_DH_data(self, dh_data: rm_dh_t) -> int:You can refer to the detailed description of the rm_dh_t structure.
- Parameter description:
| Name | Type | Description |
|---|---|---|
dh_data | rm_dh_t | Set the current DH parameters. |
- Return value: The status code of the function execution:
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create a robot arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
# Set the current DH parameters for the robot arm (example values; modify according to actual DH parameters)
dh_data = rm_dh_t(a=[0, 0, 0, 0, 0, 0], d=[0, 0, 0, 0, 0, 0], alpha=[0, 0, 0, 0, 0, 0], offset=[0, 0, 0, 0, 0, 0])
print(arm.rm_set_DH_data(dh_data))
arm.rm_delete_robot_arm()Get the Robot Arm DH Parameters rm_get_DH_data()
- Method prototype:
python
rm_get_DH_data(self) -> tuple[int, rm_dh_t]:You can refer to the detailed description of the rm_dh_t structure.
- Return value:
tuple[int,rm_dh_t]: A tuple containing two elements.
- int: The status code of the function execution
0 represents success. For other error codes, please refer to the API2 Error Codes.
- rm_dh_t: The current DH parameters
| Parameter | Type | Description |
|---|---|---|
| - | rm_dh_t | Current DH parameters of the robot arm. |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create a robot arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
[ret, dh] = arm.rm_get_DH_data()
print(dh.to_dict())
arm.rm_delete_robot_arm()Restore the Default Robot Arm DH Parameters rm_set_DH_data_default()
- Method prototype:
python
rm_set_DH_data_default(self) -> int:- Return value: The status code of the function execution:
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create a robot arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
# Restore the default DH parameters of the robot arm
print(arm.rm_set_DH_data_default())
arm.rm_delete_robot_arm()