soonhyo / mycobot_pi

Python script of myCobot

mycobot_pi

Python script of myCobot

Dependency

• Python3
• macOS / Linux
• Numpy
• Matplotlib
• myCobot Atom version 2.7
• pymycobot==2.3.3

Setup

Execute following commands:

$ pip3 install numpy
$ pip3 install matplotlib
$ pip3 install pymycobot==2.3.3
$ git clone https://github.com/karaage0703/mycobot_pi
$ cd mycobot_pi

Usage

Simulator

$ python3 -i mycobot_sim.py
>>> mycobot_sim.inverse_kinematics([0.15, 0.2, 0.1, 0, 0, 0], plot=True)
>>> mycobot_sim.send_angles(mycobot_sim.convert_joint_angles_sim_to_mycobot([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]))
>>> mycobot_sim.forward_kinematics(plot=True)

Real Robot

$ python3 -i mycobot_real.py
>>> move_initial_pose(speed=50)
>>> draw_robot()
>>> joint_angles = calc_ik([0.15, 0.2, 0.1, 0, 0, 0], plot=True)
>>> move_robot(speed=50)
>>> move_initial_pose()
>>> move_robot(speed=80)
>>> move_initial_pose(speed=80)

License

This software is released under the MIT License, see LICENSE.

References

• https://github.com/elephantrobotics/myCobot
• https://github.com/AtsushiSakai/PythonRobotics