autonomous_robotic_sample_handling.model.devices.robot_arm.synthetic_device.SyntheticRobotArm

class autonomous_robotic_sample_handling.model.devices.robot_arm.synthetic_device.SyntheticRobotArm(device_connection, *args)

Bases: object

A synthetic robot arm class

__init__(device_connection, *args)

Initialize the Synthetic Device

Parameters:

  • device_connection (object) – The device connection object

  • args (list) – The arguments for the device

Methods

__init__(device_connection, *args)

Initialize the Synthetic Device

activate_and_home()

Activates and Homes the Robot

close_gripper()

Close the robot gripper

delay(wait)

Delays robot operation by a specified time

disconnect()

Disconnects the Mecademic Robot object from the robot and system

load_robot_config()

Loads robot 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_ref_trf(x, y, z, rx, ry, rz)

Move robot arm relative to the tool reference frame

move_lin_ref_wrf(x, y, z, rx, ry, rz)

Move robot arm relative to the world reference frame

move_pose(x, y, z, rx, ry, rz)

Move Robot Arm to the given Pose

open_gripper()

Open the robot gripper

pause_robot_motion()

Pause robot motion for synthetic device

reset_error()

Reset robot error for synthetic device

reset_robot_motion()

Reset robot motion for synthetic device

resume_robot_motion()

Resume robot motion for synthetic device

start_program(program_name)

Start offline robot program

zero_joints()

Zero the joints of the synthetic device

Attributes

commands

Return the commands for the synthetic device
activate_and_home()

Activates and Homes the Robot

close_gripper()

Close the robot gripper

delay(wait)

Delays robot operation by a specified time

Parameters:

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

disconnect()

Disconnects the Mecademic Robot object from the robot and system

load_robot_config()

Loads robot configuration data

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_ref_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_ref_wrf(x, y, z, rx, ry, rz)

Move robot arm relative 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 the robot gripper

pause_robot_motion()

Pause robot motion for synthetic device

reset_error()

Reset robot error for synthetic device

reset_robot_motion()

Reset robot motion for synthetic device

resume_robot_motion()

Resume robot motion for synthetic device

start_program(program_name)

Start offline robot program

Parameters:

program_name (str) – String containing the offline program name

zero_joints()

Zero the joints of the synthetic device

property commands

Return the commands for the synthetic device

Returns:

commands – commands that the device supports

Return type:

dict