ctu_crs.crs_robot

Classes

CRSRobot

Module Contents

class ctu_crs.crs_robot.CRSRobot(tty_dev='/dev/mars', baudrate=19200, **crs_kwargs)
Parameters:

  • tty_dev (str | None)

  • baudrate (int)

_mars
_deg_to_irc
_motors_ids = 'ABCDEF'
_hh_rad
_hh_irc
_hh_sequence = []
q_min
q_max
q_home
_default_speed_irc256_per_ms
_min_speed_irc256_per_ms
_max_speed_irc256_per_ms
_default_acceleration_irc_per_ms
_min_acceleration_irc_per_ms
_max_acceleration_irc_per_ms
gripper
_REGME = [32000, 32000, 32000, 32000, 32000, 32000]
_REGP = [10, 12, 70, 35, 45, 100]
_REGI = [80, 63, 50, 80, 65, 300]
_REGD = [300, 200, 200, 130, 230, 350]
_REGCFG = [1489, 1490, 1490, 1481, 1474, 1490]
_IDLEREL = 1200
_timeout = 200
dh_offset
dh_d
dh_a
dh_alpha
_initialized = False
_camera: ctu_crs.basler_camera.BaslerCamera | None = None
_camera_name: str
grab_image(timeout=10000)
release()

Release errors and reset control unit.

reset_motors()

Reset motors of robot.

close()

Close connection to the robot.

initialize(home=True)

Initialize communication with robot and set all necessary parameters. This command will perform following settings:

  • synchronize communication with mars control unitπ

  • reset motors and wait for them to be ready

  • set PID control parameters, maximum speed and acceleration

  • set value for IDLE release

  • perform hard home and soft home, if @param home is True

Parameters:

home (bool)

_joint_values_to_irc(joint_values)

Convert joint values [rad] to IRC.

Parameters:

joint_values (numpy.typing.ArrayLike)

Return type:

numpy.ndarray

_irc_to_joint_values(irc)

Convert IRC to joint values [rad].

Parameters:

irc (numpy.typing.ArrayLike)

Return type:

numpy.ndarray

set_speed(speed_irc256_ms)

Set speed for each motor in IRC*256/msec.

Parameters:

speed_irc256_ms (numpy.typing.ArrayLike)

set_speed_relative(fraction)

Set speed for each motor in fraction (0-1) of maximum speed.

Parameters:

fraction (float)

set_acceleration(acceleration_irc_ms)

Set acceleration for each motor in IRC/msec.

Parameters:

acceleration_irc_ms (numpy.typing.ArrayLike)

set_acceleration_relative(fraction)

Set acceleration for each motor in fraction (0-1) of maximum acceleration.

Parameters:

fraction (float)

hard_home()

Perform hard home of the robot s.t. prismatic joint is homed first followed by joint A, B, and D. The speed is reset to default value before homing.

soft_home()

Move robot to the home position using coordinated movement.

move_to_q(q)

Move robot to the given joint configuration [rad] using coordinated movement. Initialization has be called before to set up coordinate movements.

Parameters:

q (numpy.typing.ArrayLike)

get_q()

Get current joint configuration.

Return type:

numpy.ndarray

in_motion()

Return whether the robot is in motion.

Return type:

bool

wait_for_motion_stop()

Wait until the robot stops moving.

in_limits(q)

Return whether the given joint configuration is in joint limits.

Parameters:

q (numpy.typing.ArrayLike)

Return type:

bool

static dh_to_se3(d, theta, a, alpha)

Compute SE3 matrix from DH parameters.

Parameters:

  • d (float)

  • theta (float)

  • a (float)

  • alpha (float)

Return type:

numpy.ndarray

fk_flange_pos(q)

Compute forward kinematics for the given joint configuration @param q. Returns 3D position of the flange w.r.t. base of the robot.

Parameters:

q (numpy.typing.ArrayLike)

Return type:

numpy.ndarray

fk(q)

Compute forward kinematics for the given joint configuration @param q. Returns 4x4 homogeneous transformation matrix (SE3) of the flange w.r.t. base of the robot.

Parameters:

q (numpy.typing.ArrayLike)

Return type:

numpy.ndarray

_ik_flange_pos(flange_pos, singularity_theta1=0)

Solve IK for position of the flange. This implementation supports only the robot configurations that are above the ground.

Parameters:

flange_pos (numpy.ndarray)

Return type:

list[numpy.ndarray]

ik(pose)

Compute inverse kinematics for the given pose. Returns array of joint configurations [rad] which can achieve the given pose. :param pose: 4x4 homogeneous transformation matrix (SE3) of the flange with respect to the base of the robot.

Parameters:

pose (numpy.ndarray)

Return type:

list[numpy.ndarray]