Demo (python):

Robotic Arm Force Control Demo

1. Project introduction

This project, via the RealMan Python development package, completes the robotic arm connection, robotic arm version acquisition, API version acquisition, 6-DoF force control with movel for straight-line motion, force control application to move the trajectory downward, and termination of force control and disconnection.

2. Code structure

RMDemo_ForceControl/
│
├── 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_force_control.py      <- Demo that completes the robotic arm connection, robotic arm version acquisition, API version acquisition, 6-DoF force control with movel for straight-line motion, force control application to move the trajectory downward, and termination of force control 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_ForceControl.

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-S robotic arm as an example. Please modify the data in the code according to your actual situation.
2. This demo requires the robotic arm to have 6-DoF force in order to be used.

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_force_control.py file and modify the initialization parameters of the RobotArmController class in the main function to the current IP address of the robotic arm. The default IP address is "192.168.1.18".

   # Create a robot arm controller instance and connect to the robot arm
   robot_controller = RobotArmController("192.168.1.18", 8080, 3)

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

   python ./src/main.py

3. Running result: The execution results of the robotic arm will be displayed in the terminal.

   (1) After running the script, the output result is as follows:

current api version:  0.2.9

Successfully connected to the robot arm: 1

API Version:  0.2.9 

movej motion succeeded

movej_p motion succeeded

Set force control mode succeeded

movel motion succeeded

movel motion succeeded

Stop force control mode succeeded
Set force control mode succeeded

movel motion succeeded

movel motion succeeded

Stop force control mode succeeded
Set force control mode succeeded

movel motion succeeded

movel motion succeeded

Stop force control mode succeeded

Successfully disconnected from the robot arm

(2) After running the script, the trajectory from top to bottom is shown in the following image:

6.2 Code description

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

• Connect the robotic arm

  robot_controller = RobotArmController("192.168.1.18", 8080, 3)

  Connect the robotic arm to the specified IP address and port.

• Get the API version

  print("\nAPI Version: ", rm_api_version(), "\n")

  Get and display the API version.

• Execute the movej motion

  robot_controller.movej([0, 0, 0, 0, 0, 0])

• Execute the movej_p motion

  robot_controller.movej_p([0.3, 0, 0.4, 3.141, 0, 0])

• Enable the force control mode

  robot_controller.set_force_position(sensor=1, mode=0, direction=2, force=-5)

• Execute the movel motion

  robot_controller.movel([0.2, 0, 0.4, 3.141, 0, 0], v=50)

• Disable the force control mode

  robot_controller.stop_force_position()

• Disconnect from the robotic arm

  robot_controller.disconnect()

7. License information

• This project is subject to the MIT license.