ctu_mitsubishi
Submodules
Classes
Package Contents
- class ctu_mitsubishi.Rv6s(port='/dev/ttyUSB_Robot', baudrate=38400, debug=False)
- _debug = False
- _connection
- _initialized = False
- q_home
- q_min
- q_max
- dh_theta_off
- dh_a
- dh_d
- dh_alpha
- _last_q = None
- _camera: ctu_mitsubishi.basler_camera.BaslerCamera | None = None
- __del__()
Stop robot and close the connection to the robot’s control unit.
- grab_image(timeout=10000)
- close_connection()
Close the connection to the robot’s control unit.
- stop_robot()
Stop the robot and perform a safe shutdown.
- _send_and_receive(msg)
Send a message to the robot and return the response.
- Parameters:
msg (str)
- Return type:
str
- initialize()
Performs robot initialization.
- get_q()
Get current joint configuration [rad].
- Return type:
numpy.ndarray
- move_to_q(q)
Move robot to the given joint configuration [rad] using coordinated movement. Initialization has be called before to set up the robot.
- Parameters:
q (numpy.typing.ArrayLike)
- soft_home()
Move robot to the home position using move to q function.
- in_limits(q)
Return whether the given joint configuration is in joint limits.
- Parameters:
q (numpy.typing.ArrayLike)
- Return type:
bool
- static _rx(angle)
Return SE3 transformation that rotates around x-axis.
- Parameters:
angle (float)
- Return type:
numpy.ndarray
- static _ry(angle)
Return SE3 transformation that rotates around x-axis.
- Parameters:
angle (float)
- Return type:
numpy.ndarray
- static _rz(angle)
Return SE3 transformation that rotates around z-axis.
- Parameters:
angle (float)
- Return type:
numpy.ndarray
- static _t(tx=0.0, ty=0.0, tz=0.0)
Return SE3 transformation that translates along x-axis.
- Parameters:
tx (float)
ty (float)
tz (float)
- Return type:
numpy.ndarray
- 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(q)
Compute forward kinematics for the given joint configuration [rad]. Return pose of the end-effector in the base frame. Homogeneous transformation matrix (4x4) is returned. The pose represents the flange pose w.r.t. base of the robot.
- Parameters:
q (numpy.typing.ArrayLike)
- Return type:
numpy.ndarray
- _ik_5th_joint_pos(position)
Compute inverse kinematics for the given position of the 5th joint (flange w.r.t. base) in the base frame. Return list of joint configurations [rad] for the first three joints.
- Parameters:
position (numpy.typing.ArrayLike)
- Return type:
list[numpy.ndarray]
- ik(pose)
Compute inverse kinematics for the given pose of the end-effector (flange w.r.t. base) in the base frame. Homogeneous transformation matrix (4x4) is expected. Only in limits solutions are returned. Return list of joint configurations [rad].
- Parameters:
pose (numpy.typing.ArrayLike)
- Return type:
list[numpy.ndarray]
- static rotation_matrix_to_euler_zyz(R)
Extract Euler angles (ZYZ convention) from a rotation matrix.
- Parameters:
R (ndarray) – 3x3 rotation matrix.
- Returns:
Euler angles (alpha, beta, gamma) in radians.
- Return type:
two solutions, 2 tuples
- wait_for_motion_stop(timeout=10, poll_interval=0.1, tol=0.0087)
Wait for the robot to stop moving. :param timeout: Maximum time to wait for the robot to stop moving. :param poll_interval: Time between checking the robot’s state. :param tol: Tolerance for the robot’s joint positions to be considered stopped
[rad].
- Returns:
True if the robot has stopped moving in a given time, False otherwise.
- Parameters:
timeout (float)
poll_interval (float)
tol (float)
- Return type:
bool
- class ctu_mitsubishi.Rv6sGripper(dev='/dev/ttyUSB_Quido')
- _quido
- _open_channel = 2
- _close_channel = 1
- open(duration=1.0)
Start opening the gripper and stop after duration in seconds.
- Parameters:
duration (float)
- close(duration=1.0)
Start closing the gripper and stop after duration in seconds.
- Parameters:
duration (float)
- disconnect()
Stop controlling the gripper.
- __del__()