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Code_final.py
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Code_final.py
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import numpy as np
import numpy.random as npr
#import matplotlib as plt
#plt.pyplot.scatter(XY[:,1],XY[:,0])
from robolink import * # API to communicate with RoboDK for simulation and offline/online programming
from robodk import * # Robotics toolbox for industrial robots
import pandas as pd
# Any interaction with RoboDK must be done through RDK:
RDK = Robolink()
RDK.Render(False) # turn off auto rendering (faster)
# Select a robot (popup is displayed if more than one robot is available)
robot = RDK.Item('KUKA LBR iiwa 14 R820')
base = RDK.Item('KUKA LBR iiwa 14 R820 Base')
panel = RDK.Item('KMP1500', 5)
tool = RDK.Item('ScrewDv1')
if not robot.Valid():
raise Exception('No robot selected or available')
RDK.Render(True) # Turn rendering ON before starting the simulation
# Retrieve the robot reference frame
reference = robot.Parent()
robot.setPoseFrame(reference)
# It is important to provide the reference frame and the tool frames when generating programs offline
robot.setPoseFrame(robot.PoseFrame())
robot.setPoseTool(robot.PoseTool())
robot.setZoneData(10) # Set the rounding parameter (Also known as: CNT, APO/C_DIS, ZoneData, Blending radius, cornering, ...)
robot.setSpeed(50) # Set linear speed in mm/s
panel_cntrd= Mat()
panel_cntrd[0,0]=0.0
panel_cntrd[0,1]=0.0
panel_cntrd[0,2]=1.0
panel_cntrd[0,3]=750.0 #750
panel_cntrd[1,0]=1.0
panel_cntrd[1,1]=0.0
panel_cntrd[1,2]=0.0
panel_cntrd[1,3]=0.0
panel_cntrd[2,0]=0.0
panel_cntrd[2,1]=1.0
panel_cntrd[2,2]=0.0
panel_cntrd[2,3]=-230.0
panel_cntrd[3,0]=0.0
panel_cntrd[3,1]=0.0
panel_cntrd[3,2]=0.0
panel_cntrd[3,3]=1.0
panel.setPose(panel_cntrd)
#hard coded centered panel position values
def shift_RL(amount):
if(amount>=0):
bool =True
else:
bool = False
amount = abs(amount)
if(bool == True):
a=5
else:
a=-5
for i in range(0,amount,5):
v=panel.Pose()
v[1,3] = v[1,3] + a
panel.setPose(v)
def shift_FB(amount):
if(amount>=0):
bool =True
else:
bool = False
amount = abs(amount)
if(bool == True):
a=5
else:
a=-5
for i in range(0,amount,5):
v=panel.Pose()
v[0,3] = v[0,3] + a
panel.setPose(v)
#shift_RL(-40)
#for i in range(4):
# for j in range(4):
# print(panel_cntrd[i,j],', ')
# print('\n')
def rotate_panel(degrees):
if(degrees>=0):
bool =True
else:
bool = False
degrees = abs(degrees)
if(bool == True):
ry = roty(pi/180)
else:
ry = roty(-pi/180)
for i in range(degrees):
v = panel.Pose()
panel.setPose(v*ry)
#rotate_panel(-45)
#Robot Program 1
txtdata = LoadList("D:/study/ENGR 7401/RobotRDK/final/pts.txt", ',')
dataR = []
for i in range(len(txtdata)):#i starts from 0, and increment by 1 for next line
#print(txtdata[i])
dataR.append(txtdata[i])
home = RDK.Item('Home')
init_pos = RDK.Item('Standby')
# get the current position of the TCP with respect to the reference frame:
# (4x4 matrix representing position and orientation)
target_ref = init_pos.Pose()
pos_ref = target_ref.Pos()
# move the robot to the first point:
robot.MoveJ(home)
robot.MoveJ(init_pos)
#Move tool to a given point:
def move_2_point_on_panel(robot, panel, x,y):
zbuff = 15
robot.MoveJ(init_pos)
#calculate offsets between end tool and platform
tool_pos = robot.Pose().Pos()
panel_pos = panel.Pose().Pos()
dx = tool_pos[0]-panel_pos[0]
dy = tool_pos[1]-panel_pos[1]
dz = tool_pos[2]-panel_pos[2]
target_i = Mat(target_ref)
pos_i = target_i.Pos()
print(pos_i)
#example input to robot: (0,0,0)
command = Mat(1,3)
command[0,0] = x
command[0,1] =y
command[0,2] =0
pos_i[0] = pos_i[0]+ command[0,0]-dx
pos_i[1] = pos_i[1]+ command[0,1]-dy
pos_i[2] = pos_i[2]+ command[0,2]
target_i.setPos(pos_i)
robot.MoveJ(target_i) #hover above
pos_i[2] = pos_i[2] - zbuff #press down
target_i.setPos(pos_i)
robot.MoveJ(target_i)
pos_i[2] = pos_i[2] + zbuff #return above
target_i.setPos(pos_i)
robot.MoveJ(target_i)
#Check error
pos_i[2] = pos_i[2] - zbuff #press down
target_i.setPos(pos_i)
robot.MoveJ(target_i)
pos_i[2] = pos_i[2] + zbuff #return above
target_i.setPos(pos_i)
robot.MoveJ(target_i)
robot.MoveJ(init_pos)
if(npr.randint(0,4)==2):
#print('ERROR on:')
return 1
else:
#print('SUCCESS on:')
return 0
def move_2_point_on_panel_top(x,y,z):
zbuff = 15
#target_i.setPose(init_pos.Pose())
robot.MoveJ(init_pos)
#calculate offsets between end tool and platform
tool_pos = robot.Pose().Pos()
panel_pos = panel.Pose().Pos()
dx = tool_pos[0]-panel_pos[0]
dy = tool_pos[1]-panel_pos[1]
dz = tool_pos[2]-panel_pos[2]
target_i = Mat(target_ref)
pos_i = target_i.Pos()
#print(pos_i)
#example input to robot: (0,0,0)
command = Mat(1,3)
command[0,0] =x
command[0,1] =y
command[0,2] =z
pos_i[0] = pos_i[0]+ command[0,0]-dx
pos_i[1] = pos_i[1]+ command[0,1]-dy
pos_i[2] = pos_i[2]+ command[0,2]-dz+zbuff
target_i.setPos(pos_i)
# calculate a new approach position 100 mm along the Z axis of the tool with respect to the target
#approach = target_i.Pose()* transl(0,0,-50)
#robot.MoveJ(approach) # linear move to the approach position
robot.MoveJ(target_i) #hover above
pos_i[2] = pos_i[2] - zbuff #press down
target_i.setPos(pos_i)
robot.MoveJ(target_i)
pos_i[2] = pos_i[2] + zbuff #return above
target_i.setPos(pos_i)
robot.MoveJ(target_i)
#Check error
pos_i[2] = pos_i[2] - zbuff #press down
target_i.setPos(pos_i)
robot.MoveJ(target_i)
pos_i[2] = pos_i[2] + zbuff #return above
target_i.setPos(pos_i)
robot.MoveJ(target_i)
#robot.MoveJ(init_pos)
if(npr.randint(0,4)==2):
#print('ERROR on:')
return 1
else:
#print('SUCCESS on:')
return 0
def move_2_point_on_panel_top2(x,y,z):
zbuff = 20
#target_i.setPose(init_pos.Pose())
#robot.MoveJ(init_pos)
#calculate offsets between end tool and platform
tool_pos = robot.Pose().Pos()
panel_pos = panel.Pose().Pos()
dx = tool_pos[0]-panel_pos[0]
dy = tool_pos[1]-panel_pos[1]
dz = tool_pos[2]-panel_pos[2]
target_i = robot.Pose()
pos_i = target_i.Pos()
command = Mat(1,3)
command[0,0] =x
command[0,1] =y
command[0,2] =z
pos_i[0] = pos_i[0]+ command[0,0]-dx
pos_i[1] = pos_i[1]+ command[0,1]-dy
pos_i[2] = pos_i[2]+ command[0,2]-dz+zbuff
target_i.setPos(pos_i)
robot.MoveJ(target_i) #hover above
pos_i[2] = pos_i[2] - zbuff #press down
target_i.setPos(pos_i)
robot.MoveJ(target_i)
pos_i[2] = pos_i[2] + zbuff #return above
target_i.setPos(pos_i)
robot.MoveJ(target_i)
#Check error
pos_i[2] = pos_i[2] - zbuff #press down
target_i.setPos(pos_i)
robot.MoveJ(target_i)
pos_i[2] = pos_i[2] + zbuff #return above
target_i.setPos(pos_i)
robot.MoveJ(target_i)
if(npr.randint(0,4)==2):
#print('ERROR on:')
return 1
else:
#print('SUCCESS on:')
return 0
#move_2_point_on_panel_top2(-320,-400,470)
#move_2_point_on_panel_top2(-260,-340,470)
#define workspace to be 430<Rpoint/base<815
#(based off trial and error tests)
#determine if point in panel coord. frame is accessible
#in base coordinate frame
#e.g. x=..., y = ...
x = -320
y = 0
a = 350 #430
b = 750 #815
#XY = np.array([[-320,-400],[-320,0],[-320,400],[-320,600],[-320,800],[-220,800],[-120,800]])
#XY = np.array([[-320,-400],[-320,0],[-320,400],[-320,600],
# [-320,800],[-220,800],[-120,800],[0,800],[120,800],
# [220,800],[320,800],[320,600],[320,400],[320,0],[320,-400]])#
XY = np.asarray(dataR)
def check_range(robot, panel, x, y, a, b):
x_offset = panel.Pose().Pos()[0]
y_offset = panel.Pose().Pos()[1]
x_b = x + x_offset
y_b = y + y_offset
#print(sqrt(x_b*x_b + y_b*y_b))
Rb = sqrt(x_b*x_b + y_b*y_b)
# print('\nx_b = ', x_b,'\ty_b = ', y_b )
# if(Rb>b or Rb<a):
# print('\nnot within range')
return Rb, x_b, y_b
def split(XY, robot, panel,a,b):
n = len(XY)
Rs = np.zeros((n,1))
Side1 = np.array([[0,0, 0]])
Side2 = np.array([[0,0, 0]])
for i in range(n):
x = XY[i,0]
y = XY[i,1]
Rb, _, _ = check_range(robot, panel, x, y, a, b)
Rs[i,0]= Rb
if(x<=0):
Side1 = np.append(Side1, [[x,y, Rb]], axis = 0)
else:
Side2 = np.append(Side2, [[x,y, Rb]], axis = 0)
Side1 = Side1[1:,:]
Side2 = Side2[1:,:]
#separate data in side 1 side 2, side 1 being negative or zero x (first columng XY[:,0])
#side 2 positive x
return Side1, Side2
s1, s2 = split(XY, robot, panel,a,b)
n1 = s1.shape[0]
n2 = s2.shape[0]
#starting with side 1 (s1)
def attack_side(robot, panel,s1, n1, a, b, sideno):
errors = 0;
for i in range(n1):
x1 = s1[i,0]
y1 = s1[i,1]
Rb1, _, _ =check_range(robot, panel, x1, y1, a, b)
while(Rb1 <a):
if(y1>=0):
shift_RL(5)
else:
shift_RL(-5)
Rb1, _, _ =check_range(robot, panel, x1, y1, a, b)
while(Rb1 > b):
if(y1>=0):
shift_RL(-5)
else:
shift_RL(5)
Rb1, _, _ =check_range(robot, panel, x1, y1, a, b)
c = move_2_point_on_panel_top2(x1, y1,470)
errors = errors + c
print("Side number #",sideno," hole number #", i+1)
if(c):
#print("VALIDATION FAILURE ALARM -Press Enter Continue?")
input("VALIDATION FAILURE ALARM -Press Enter Continue?")
print("-----------------------------------------------")
# while(errors-errors_p):
# c=wait()
# if(c=='y'):
# break;
percent_error = errors/n1
robot.MoveJ(home)
return percent_error
p_e1 = attack_side(robot, panel, s1, n1, a, b,1)
#side 2 (s2)
#first return panel to centered position
while(panel.Pose().Pos()[1]!=0):
if(panel.Pose().Pos()[1]<0):
shift_RL(1)
else:
if(panel.Pose().Pos()[1]>0):
shift_RL(-1)
#Now, back panel up
while(panel.Pose().Pos()[0]<1550):
shift_FB(100)
#turn panel 180 degrees
rotate_panel(180)
#turn input points 180 degrees
ry = roty(pi).Rot33()
s2_180 = Mat(3,n2)
for i in range(n2):
s2_180[0,i] = s2[i,0]
s2_180[1,i] = s2[i,1]
s2_180[2,i] = 0
s2_180 = ry*s2_180
for i in range(n2):
s2_180[2,i] = 0
s2_180= s2_180.tr() #new set of points
#return panel to initial positition X = 750
while(panel.Pose().Pos()[0]>750):
shift_FB(-100)
# apply holes to other side
p_e2 = attack_side(robot, panel, s2_180, n2, a, b,2)
total_error = (p_e1*n1 +p_e2*n2)/(n1+n2)
print('\nTotal Error = ', total_error)
if total_error<=0.25:
print('task SUCCESS')
else:
print('task FAILURE')
print('\nDone')
RDK.ShowMessage(" Finish! ")