autonomous_robotic_sample_handling.model.devices.robot_arm.robot_arm.RobotArm

class autonomous_robotic_sample_handling.model.devices.robot_arm.robot_arm.RobotArm(device_connection: Robot, *args)

Bases: object

Robot Arm class

__init__(device_connection: Robot, *args)

Initialize the Custom Device

RobotArm(device_connection, arg1, arg2)

Parameters:

  • device_connection (mdr.Robot) – The device connection object, representing the Meca500 Robot Arm using mecademicpy

  • args (list) – The arguments for the device

Methods

__init__(device_connection, *args)

Initialize the Custom Device

activate_and_home()

Activate and Home the robot arm

close_gripper()

Close robot arm gripper

delay(wait)

Delays robot operation by a specified time

disconnect()

Disconnect the robot arm

load_robot_config([config])

Apply robot operation limits from configuration data

move_joints(j1, j2, j3, j4, j5, j6)

Move robot arm joints to the specified angles

move_lin(x, y, z, rx, ry, rz)

Move the robot arm along a linear path (in the Cartesian space) to a given pose

move_lin_rel_trf(x, y, z, rx, ry, rz)

Move robot arm relative to the tool reference frame

move_lin_rel_wrf(x, y, z, rx, ry, rz)

Move Robot Linearly with respect to the World Reference Frame

move_pose(x, y, z, rx, ry, rz)

Move Robot Arm to the given Pose

open_gripper()

Open robot arm gripper

pause_robot_motion()

Pause motion of the robot arm

reset_error()

Reset robot error.

reset_robot_motion()

Reset motion queue for the robot arm

resume_robot_motion()

Resume motion of the robot arm

start_program(program_name)

Start offline robot program

zero_joints()

Zero all robot arm joints

Attributes

commands

Return commands dictionary
activate_and_home()

Activate and Home the robot arm

close_gripper()

Close robot arm gripper

delay(wait)

Delays robot operation by a specified time

Parameters:

wait (float) – time in seconds to delay the robot

disconnect()

Disconnect the robot arm

load_robot_config(config=None)

Apply robot operation limits from configuration data

Parameters:

config (yaml) – User-defined data for robot arm operating limits and configuration

move_joints(j1, j2, j3, j4, j5, j6)

Move robot arm joints to the specified angles

Parameters:

  • j1 (float) – Angle of joint 1

  • j2 (float) – Angle of joint 2

  • j3 (float) – Angle of joint 3

  • j4 (float) – Angle of joint 4

  • j5 (float) – Angle of joint 5

  • j6 (float) – Angle of joint 6

move_lin(x, y, z, rx, ry, rz)

Move the robot arm along a linear path (in the Cartesian space) to a given pose

Parameters:

  • x (float) – position in x

  • y (float) – position in y

  • z (float) – position in z

  • rx (float) – angle around x-axis

  • ry (float) – angle around y-axis

  • rz (float) – angle around z-axis

move_lin_rel_trf(x, y, z, rx, ry, rz)

Move robot arm relative to the tool reference frame

Parameters:

  • x (float) – distance (mm) in x

  • y (float) – distance (mm) in y

  • z (float) – distance (mm) in z

  • rx (float) – angle around x-axis

  • ry (float) – angle around y-axis

  • rz (float) – angle around z-axis

move_lin_rel_wrf(x, y, z, rx, ry, rz)

Move Robot Linearly with respect to the World Reference Frame

Parameters:

  • x (float) – distance (mm) in x

  • y (float) – distance (mm) in y

  • z (float) – distance (mm) in z

  • rx (float) – angle around x-axis

  • ry (float) – angle around y-axis

  • rz (float) – angle around z-axis

move_pose(x, y, z, rx, ry, rz)

Move Robot Arm to the given Pose

Parameters:

  • x (float) – position in x

  • y (float) – position in y

  • z (float) – position in z

  • rx (float) – angle around x-axis

  • ry (float) – angle around y-axis

  • rz (float) – angle around z-axis

open_gripper()

Open robot arm gripper

pause_robot_motion()

Pause motion of the robot arm

reset_error()

Reset robot error.

reset_robot_motion()

Reset motion queue for the robot arm

resume_robot_motion()

Resume motion of the robot arm

start_program(program_name)

Start offline robot program

Parameters:

program_name (str) – String containing the offline program name

zero_joints()

Zero all robot arm joints

property commands

Return commands dictionary

Returns:

commands – commands that the device supports

Return type:

dict