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robotCRS.py
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robotCRS.py
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# Coordinated Spline Motion and Robot Control Project
#
# Copyright (c) 2017 Olga Petrova <olga.petrova@cvut.cz>
# Advisor: Pavel Pisa <pisa@cmp.felk.cvut.cz>
# FEE CTU Prague, Czech Republic
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
#
# In 2017, project funded by PiKRON s.r.o. http://www.pikron.com/
''' Module provides functions for robot object initialization '''
import numpy as np
from robCRSdkt import robCRSdkt
from robCRSgripper import robCRSgripper, robCRSgripperinit
from robCRSikt import robCRSikt
# based on BlueBot and Bosch Toolbox
# by O. Certik, V. Smutny, P. Krsek, M. Matousek
class robCRS:
"""Common specifications for CRS robots"""
def __init__(self):
self.portname = 'COM4'
self.controller = 'MARS8'
self.demoname = 'robCRSdemo'
self.DOF = 6
# Robot link dimensions (these constants are read from documentation)
inch2mm = 25.4 # conversion constant
self.L1 = 13 * inch2mm - 25 # J2 above working desk
self.L2 = 12 * inch2mm # J2-J3
self.L3 = 13 * inch2mm # J3-J5
self.L4 = 3 * inch2mm # J5-flange
self.L5 = inch2mm * (3.78 + 0.5) # gripper length
self.L6 = inch2mm * 1 # gripper finger length
# Posible change of coordinate direction
self.direction = np.array([1, 1, -1, -1, -1, -1])
# IRC per rotation of motor.
self.irc = np.array([1000, 1000, 1000, 500, 500, 500]) # from manual, it should work
# motors' gearing
self.gearing = np.array([100, 100, 100, 101, 100, 101]) # from manual
# degtoirc=1 degree in IRC
self.degtoirc = self.irc * self.direction * self.gearing * 4 / 360
self.activemotors = 'ABCDEF'
# axes in hh_axes_list are in order of initialization
self.hh_axes_list = 'BACDEF'
self.control_axes_list = 'ABCDEF'
self.coord_axes = 'ABCDEF'
# DH notation
self.offset = np.array([0.0, 270.0, 90.0, 0.0, 0.0, 0.0]) / 180 * np.pi
self.sign = np.array([1, 1, 1, 1, 1, 1])
self.d = [self.L1, 0, 0, self.L3, 0, self.L4 + self.L5 + self.L6]
self.a = [0, self.L2, 0, 0, 0, 0]
self.alpha = np.array([90.0, 0.0, 270.0, 90.0, 270.0, 0]) / 180 * np.pi
self.base = np.eye(4)
self.tool = np.array([[0.0,0.0,-1.0,0.0],
[0.0,1.0, 0.0,0.0],
[1.0, 0.0,0.0,0.0],
[0.0,0.0,0.0,1.0]])
# Base position in degrees
# (corresponds to position robot.hhirc in IRC)
self.hhdeg = [0, 0, 0, 0, 0, 0]
# Softhome position in degrees
# - Robot is moved to this position during startup and closing.
# - The position is set by calling bbsofthome
self.shdeg = [0, 0, -45, 0, -45, 0]
self.REGME = [32000, 32000, 32000, 32000, 32000, 32000]
# Constants of PID regulators
self.REGP = [10, 12, 70, 35, 45, 100]
self.REGI = [80, 63, 50, 80, 65, 300]
self.REGD = [300, 200, 200, 130, 230, 350]
# min and max speeds (IRC/256/msec)
self.minspeed = np.rint(self.defaultspeed / 5)
self.maxspeed = np.rint(self.defaultspeed * 2)
# min a max acceleration
self.minacceleration = np.rint(self.defaultacceleration / 5)
self.maxacceleration = np.rint(self.defaultacceleration * 2)
# smutneho hodnoty robot.REGCFG = [1370 1369 1369 1361 1369 1369]
# D ma HW problem, protoze indexova znacka se casto nachazi o
# (mnoho)otacek jinde
# E nema indexy nikdy,
# problem D a E identifikovan: V rozporu s dokumentaci ma HEDS na D a E
# signal znacky v podmnozine kombinace kanalu AB=00, ackoliv by mel jit az
# do hrany A mezi 0 a 1 (ci naopak), pricemz B ma byt nula. Cip, ktery
# zpracovava signaly to jinak neumi.
# Potencialne to lze resit nejakym RC clankem mezi HEDS a budicem v robotu,
# daji se ocekavat problemy s ruznymi rychlostmi. Od tohoto reseni je
# upusteno.
# V teto verzi tedy D a E najizdi jen na MARK, nikoliv na indexovou znacku.
# robot.REGCFG = [1494 1494 1494 1484 1476 1492]# D melo 1498,
# robot.REGCFG = [1492 1494 1494 1484 1476 1492]# D melo 1498,
# Uprava rychlosti HOME
# robot.REGCFG = [1490 1491 1491 1482 1474 1490]# D melo 1498,
# Speed reduced due to power suply problem
self.REGCFG = [1489, 1490, 1490, 1481, 1474, 1490] # D melo 1498,
# CRS robot shall not release after some time
self.IDLEREL = 1200
# homing sequence TODO
# robot.hardhome = robCRShardhome
self.timeout = 200
# Gripper parameters
self.gripper = robCRSgripper
self.gripper_init = robCRSgripperinit
# Kind of gripper (CRSGripper, Magnetic)
self.gripper_type = 'CRSGripper'
# Analog input of position sensor
self.gripper_ADC = 10
# Maximal curent limit (0-255)
# Value 16 corresponds to 250mA when feedback is 500
self.gripper_current = 16
# Limitation constant (feeadback from overcurrent)
self.gripper_feedback = 500
# Maximal energy limits voltage on motor
# (0 - 32000 corresponds to 0-24V)
# 2010-02-17 Martin Matousek note:
# Manual says that gripper can survive up to 15 Volts, but
# force more than 75# must not be used longer then 15 second. Thus
# safe power seems to be 11.25 V. We are using more conservative value here
# 10/32 * 24 = 7.5 V
self.gripper_REGME = 10000
# Maximal speed
self.gripper_REGMS = 500
# Axis configuration word
self.gripper_REGCFG = 256
# PID parameter of controller
self.gripper_REGP = 200
self.gripper_REGI = 0
self.gripper_REGD = 100
self.gripper_poll_time = 0.2
self.gripper_poll_diff = 50
self.ikt = robCRSikt
self.dkt = robCRSdkt
self.degtoirc = np.multiply(self.direction, np.multiply(self.irc, self.gearing)) * 4.0 / 360.0
class robCRS97(robCRS, object):
"""Robot specification: CRS97"""
def __init__(self):
self.description = 'CRS 1997 with gripper'
# Base position in IRC - calibrated !!
# (corresponds to position self.hhdeg in degrees)
self.hhirc = [-182500, 252, -63625, 99200, 14300, -98150]
# self bounds in IRC
self.bound = [[-370000, -100000, -190000, -5000, -44000, -199500],
[10000, 100000, 65000, 202000, 72000, 4000]]
# Speed reduced due to power suply problem
self.defaultspeed = np.array([30, 8, 20, 30, 30, 55]) * 256
self.defaultacceleration = np.rint(
np.array([(30.0 / 400.0), (8.0 / 400.0), (20.0 / 400.0), (30.0 / 400.0), 1.0 / 2.0, 3.0 / 5.0]) * 256.0)
# Gripper range
self.gripper_bounds = [1001, 48]
self.gripper_bounds_force = [1001 + 100, 48 - 1000] # TODO must be verified
# Axis(motor) of gripper
self.gripper_ax = 'H'
self.verbose = True
# ------------------------------------------------------------------------------
# Common parameters for CRS selfs
super(robCRS97, self).__init__()
class robCRS93(robCRS, object):
"""Robot specification: CRS93"""
def __init__(self):
self.description = 'CRS 1993 with gripper'
# Base position in IRC - calibrated !!
# (corresponds to position self.hhdeg in degrees)
self.hhirc = [-181650, -349, -62200, 99200, 8300, -96500]
# self bounds in IRC
self.bound = [[-370000, -100000, -190000, -5000, -50000, -199500],
[10000, 100000, 63000, 203500, 67000, 4600]]
# Speed reduced due to power suply problem
self.defaultspeed = np.array([30, 8, 20, 30, 30, 75]) * 256
self.defaultacceleration = np.rint(
np.array([0.2, (8.0 / 200.0), (20.0 / 250.0), (30.0 / 200.0), 0.5, 3.0]) * 256.0)
# Gripper range
self.gripper_bounds = [840, 103]
self.gripper_bounds_force = [840+1000, 103-1000] # TODO must be verified
# Axis(motor) of gripper
self.gripper_ax = 'G'
self.verbose = True
# ------------------------------------------------------------------------------
# Common parameters for CRS selfs
super(robCRS93, self).__init__()