Demo (python):

Multi-Robot Arm Control Operations Demo

1. Project introduction

This project, via the RealMan Python development package, completes multi-robotic arm connection, robotic arm version acquisition, API version acquisition, movej motion, moveL motion, moveC motion, and disconnection.

2. Code structure

RMDemo_DoubleRoboticArm/
│
├── README.md        <- Core project document
├── requirements.txt    <- List of project dependencies
├── setup.py        <- Project installation script
│
├── src/          <- Project source code
│  ├── main.py       <- Main procedure entry
│  └── core/        <- Core function or business logic code
│    └── demo_double_robotic_arm.py      <- Demo that completes multi-robotic arm connection, robotic arm version acquisition, API version acquisition, movej motion, moveL motion, moveC motion, and disconnection.
└── Robotic_Arm/      <- RealMan robotic arm secondary development package

3. Project download

Download RM_API2 locally via the link: development package download. Then, navigate to the RM_API2\Demo\RMDemo_Python directory, where you will find RMDemo_DoubleRoboticArm.

4. Environment configuration

Required environment and dependencies for running in Windows and Linux environments:

Item	Linux	Windows
System architecture	x86 architecture	-
python	3.9 or higher	3.9 or higher
Specific dependency	-	-

Linux configuration

1. Refer to the python official website - linux to download and install python3.9.

2. After entering the project directory, open the terminal and run the following command to install dependencies:

pip install -r requirements.txt

Windows configuration

1. Refer to the python official website - Windows to download and install python3.9.

2. After entering the project directory, open the terminal and run the following command to install dependencies:

pip install -r requirements.txt

5. Notes

1. This demo uses the RM65-B robotic arm as an example. Please modify the data in the code according to your actual situation.

2. For multi-robotic arm connection, only the initialization of the first robotic arm requires specifying the thread mode. For subsequent robotic arms, there's no need to provide the thread parameter. For example:

   arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
   arm1 = RoboticArm()
   handle = arm.rm_create_robot_arm("192.168.1.18", 8080, level=3)
   handle1 = arm1.rm_create_robot_arm("192.168.1.19", 8080, level=3)
   print(handle.id)
   print(handle1.id)
   print(arm.rm_get_current_arm_state())
   print(arm1.rm_get_current_arm_state())

6. User guide

6.1 Quick run

Follow these steps to quickly run the code:

1. Configuration of the IP address of the robotic arm: open the demo_double_robotic_arm.py file and modify the ip parameter in the connect_robot function in the main function to the current IP address of the robotic arm. The default IP addresses are "192.168.1.18" and "192.168.1.19".

   # Connect robotic arm 1
   robot1 = connect_robot("192.168.1.18", 8080, 3, 2)
   
   # Connect robotic arm 2
   robot2 = connect_robot("192.168.1.19", 8080, 3)

2. Running via command line: navigate to the RMDemo_DoubleRoboticArm directory in the terminal and enter the following command to run the Python script:

   python ./src/main.py

3. Running result: The running results will be displayed in the terminal.

After running the script, the output result is as follows:

Successfully connected to the robot arm: 1
Successfully connected to the robot arm: 2

movej motion succeeded
movej motion succeeded

movej_p motion succeeded
movel motion succeeded
movec motion succeeded

Successfully disconnected from the robot arm
Successfully disconnected from the robot arm
Both robot motions completed

6.2 Code description

The following are the main functions of the demo_double_robotic_arm.py file:

• Connect the robotic arm

  robot1 = connect_robot("192.168.1.18", 8080, 3, 2)
  robot2 = connect_robot("192.168.1.19", 8080, 3)

  Connect two robotic arms to the specified IP addresses and ports separately.

• Execute motion commands

  demo_movej(robot1)
  demo_movej(robot1, [0, 20, 70, 0, 90, 0])
  demo_movej_p(robot1, [0.3, 0, 0.3, 3.141, 0, 0])
  demo_movel(robot1, [0.2, 0, 0.3, 3.141, 0, 0])
  demo_movec(robot1, [0.25, 0.05, 0.3, 3.141, 0, 0], [0.25, -0.05, 0.3, 3.141, 0, 0], loop=2)

  demo_movej(robot2)
  demo_movej(robot2, [0, 20, 70, 0, 90, 0])
  demo_movej_p(robot2, [0.3, 0, 0.3, 3.141, 0, 0])
  demo_movel(robot2, [0.2, 0, 0.3, 3.141, 0, 0])
  demo_movec(robot2, [0.25, 0.05, 0.3, 3.141, 0, 0], [0.25, -0.05, 0.3, 3.141, 0, 0], loop=2)

  Execute different motion commands for the two robotic arms separately, including movej, movej_p, movel and movec

• Disconnect from the robotic arm

  disconnect_robot(robot1)
  disconnect_robot(robot2)

  Disconnect from the two robotic arms separately.

7. License information

• This project is subject to the MIT license.