97 lines
4.3 KiB
Python
97 lines
4.3 KiB
Python
|
|
from Robotic_Arm.rm_robot_interface import *
|
|
import numpy as np
|
|
import math
|
|
|
|
class rm75_kine_api():
|
|
def __init__(self):
|
|
# ---------- rm75 official algorithm -----------
|
|
print(f'------- the realman official kinematic initialising -------')
|
|
arm_model = rm_robot_arm_model_e.RM_MODEL_RM_75_E # RM_65 Robotic arm
|
|
force_type = rm_force_type_e.RM_MODEL_RM_B_E # Standard version
|
|
# Initialize the robotic arm model and sensor type in the algorithm
|
|
self.robot_kine_rm = Algo(arm_model, force_type)
|
|
|
|
self.cfg_j_limit()
|
|
|
|
self.tool_frames = {
|
|
'ee': rm_frame_t(frame_name="ee", pose=(0.0, 0.0, 0.0, 0.0, 0, 0.0), payload=1, x=0, y=0, z=0),
|
|
'scissor': rm_frame_t(frame_name="scissor", pose=(0.0, 0.0, 0.19, 0.0, 0, 0.0), payload=1, x=0, y=0, z=72),
|
|
'camera': rm_frame_t(frame_name="camera", pose=(0.05, 0.02, 0.10, -1.57, 0, -1.57), payload=1, x=0, y=0, z=72)
|
|
}
|
|
self.work_frames = {
|
|
'work': rm_frame_t(frame_name="ee", pose=(0.0, 0.0, 0.0, 0.0, 0, 0.0), payload=1, x=0, y=0, z=0),
|
|
}
|
|
|
|
self.tool_name = "ee"
|
|
self.work_name = "work"
|
|
|
|
def cfg_j_limit(self, min_j=None, max_j=None, rad_flag = True):
|
|
if max_j is None:
|
|
max_j = np.array([3.14159, 2.2689, 3.14159, 2.3562, 3.14159, 2.234, 3.14159])
|
|
if min_j is None:
|
|
min_j = np.array([ -3.14159, -2.2689, -3.14159, -2.3562, -3.14159, -2.234, -3.14159 ])
|
|
|
|
if rad_flag:
|
|
self.robot_kine_rm.rm_algo_set_joint_max_limit((max_j * 180 / math.pi).tolist())
|
|
self.robot_kine_rm.rm_algo_set_joint_min_limit((min_j * 180 / math.pi).tolist())
|
|
else:
|
|
self.robot_kine_rm.rm_algo_set_joint_max_limit(max_j.tolist())
|
|
self.robot_kine_rm.rm_algo_set_joint_min_limit(min_j.tolist())
|
|
|
|
def cfg_work_frame(self , frame_name):
|
|
self.robot_kine_rm.rm_algo_set_workframe(self.work_frames[frame_name])
|
|
|
|
def get_work_frame(self):
|
|
return self.robot_kine_rm.rm_algo_get_curr_workframe()
|
|
|
|
def cfg_tool_frame(self, frame_name ):
|
|
self.robot_kine_rm.rm_algo_set_toolframe(self.tool_frames[frame_name])
|
|
|
|
def get_tool_frame(self):
|
|
return self.robot_kine_rm.rm_algo_get_curr_toolframe()
|
|
|
|
def forward_kinematics(self, joint_angles, flag = 1 , tool="ee", work="work"):
|
|
'''
|
|
:param joint_angles: list of joint values, in rad
|
|
:param flag: 0: return list [x,y,z,w,x,y,z]. 1: return list [x,y,z,rx,ry,rz]
|
|
:param return: [x,y,z,rx,ry,rz], m & rad
|
|
'''
|
|
if tool != self.tool_name:
|
|
self.tool_name = tool
|
|
self.cfg_tool_frame(tool)
|
|
if work != self.work_name:
|
|
self.work_name = work
|
|
self.cfg_work_frame(work)
|
|
|
|
return self.robot_kine_rm.rm_algo_forward_kinematics(joint=[q_s*180/math.pi for q_s in joint_angles] , flag=flag)
|
|
|
|
def inverse_kinematics(self, target_position, target_rpy=None, initial_guess=None, tool="ee", work="work"):
|
|
'''
|
|
:param target_position: list of position values, m
|
|
:param target_rpy: list of rpy values, rad
|
|
:param initial_guess: initial guess of angles, rad
|
|
:param tool: tool name, refer to self.tool_frames
|
|
:param work: work name, refer to self.work_frames
|
|
|
|
return ret: state of ik calculation, 0:success, -2: out of workspace
|
|
[q_]: the ik calculated angles for joints, rad
|
|
'''
|
|
if tool != self.tool_name:
|
|
self.tool_name = tool
|
|
self.cfg_tool_frame(tool)
|
|
if work != self.work_name:
|
|
self.work_name = work
|
|
self.cfg_work_frame(work)
|
|
|
|
target = target_position + target_rpy
|
|
|
|
if initial_guess is not None:
|
|
q_ref = [ 180/math.pi * ig for ig in initial_guess ]
|
|
else:
|
|
q_ref = [0.0, 110.0, 20.0, 40.0, 30.0, 180.0, 20.0]
|
|
ret, phi = self.robot_kine_rm.rm_algo_calculate_arm_angle_from_config_rm75(q_ref)
|
|
params = rm_inverse_kinematics_params_t(q_ref,
|
|
target, 1)
|
|
ret, q_out = self.robot_kine_rm.rm_algo_inverse_kinematics_rm75_for_arm_angle(params, phi)
|
|
return ret, [ q/180*math.pi for q in q_out] |