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ur10_control.py

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+from urx import Robot
+import time
+
+# Created by Coder Shiyar | https://codershiyar.com 
+# Netherlands Kurdistan | 25, 
+def connect_to_robot(robot_ip):
+ """
+ Connects to the UR10 robot.
+
+ Parameters:
+ robot_ip (str): The IP address of the robot.
+
+ Returns:
+ Robot: The connected robot object.
+ """
+ robot = Robot(robot_ip)
+ return robot
+
+def move_to_position(robot, target_pose, acceleration=0.5, velocity=0.5):
+ """
+ Moves the robot to a specified position.
+
+ Parameters:
+ robot (Robot): The connected robot object.
+ target_pose (tuple): Target position and orientation (X, Y, Z, RX, RY, RZ).
+ acceleration (float): Acceleration value for the movement (default: 0.5).
+ velocity (float): Velocity value for the movement (default: 0.5).
+ """
+ robot.movej(target_pose, acc=acceleration, vel=velocity)
+
+def stop_robot(robot):
+ """
+ Stops the movement of the robot.
+
+ Parameters:
+ robot (Robot): The connected robot object.
+ """
+ robot.stopl()
+
+def disconnect_robot(robot):
+ """
+ Disconnects from the robot.
+
+ Parameters:
+ robot (Robot): The connected robot object.
+ """
+ robot.close()
+
+def rotate_robot(robot, rx_offset, ry_offset, acceleration=0.5, velocity=0.5):
+ """
+ Rotates the robot around its fixed position by adjusting RX and RY angles.
+
+ Parameters:
+ robot (Robot): The connected robot object.
+ rx_offset (float): Offset value for RX angle (in radians).
+ ry_offset (float): Offset value for RY angle (in radians).
+ acceleration (float): Acceleration value for the movement (default: 0.5).
+ velocity (float): Velocity value for the movement (default: 0.5).
+ """
+ current_pose = robot.getl()
+ new_orientation = (current_pose[3], current_pose[4] + rx_offset, current_pose[5] + ry_offset)
+ robot.movel(current_pose[0:3] + new_orientation, acc=acceleration, vel=velocity)
+
+if __name__ == "__main__":
+ # Example usage:
+ robot_ip_address = "192.168.1.100" # Replace with the actual IP address of your UR10 robot
+
+ # Connect to the robot
+ ur10_robot = connect_to_robot(robot_ip_address)
+
+ # Example target position (X, Y, Z, RX, RY, RZ)
+ target_position = (0.5, 0.5, 0.5, 0, 0, 0)
+
+ # Move to the target position
+ move_to_position(ur10_robot, target_position)
+
+ # Pause for safety
+ time.sleep(2)
+
+ # Stop the robot
+ stop_robot(ur10_robot)
+
+ # Rotate the robot around its fixed position by adjusting RX and RY angles
+ rotate_robot(ur10_robot, rx_offset=0.1, ry_offset=0.1)
+
+ # Pause for safety
+ time.sleep(2)
+
+ # Stop the robot
+ stop_robot(ur10_robot)
+
+ # Disconnect from the robot
+ disconnect_robot(ur10_robot)
+
+
+
+
+# Simple example to move robot to the target position.
+
+# from urx import Robot
+
+# def main(robot_ip):
+# # Connect to the robot
+# robot = Robot(robot_ip)
+
+# # Set a target pose (position and orientation)
+# target_pose = (0.5, 0.5, 0.5, 0, 0, 0) # Example target pose (X, Y, Z, RX, RY, RZ)
+
+# # Move to the target pose
+# robot.movej(target_pose, acc=0.5, vel=0.5) # MoveJ command (joint movement)
+
+# # Close the connection
+# robot.close()
+
+# if __name__ == "__main__":
+# # Specify the IP address of your UR10 robot
+# robot_ip_address = "192.168.1.100" # Example IP address, replace with your robot's IP
+# main(robot_ip_address)