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QuickStart

The backend of ribot is written in python, and uses the ribot-controller library to control the robot arm.

This Library can also be used in a standalone project, given that you have the hardware and the esp flashed correctly to look for the server and connect to it.

Installation​

To install the library just run

pip install ribot-controller

Usage​

Here we have a quick example of how to use the library to control the robot arm

As you can see we first import the library and then we create an instance of the controller with the arm parameters, then we start the controller and set the settings for the joints and home the robot arm.

Then we can move the robot arm to a position or to a set of angles, we can also set the tool value and check if the robot arm is homed.

from ribot.control.arm_kinematics import ArmParameters, ArmPose
from ribot.controller import ArmController, Settings

if __name__ == "__main__":
    # Arm parameters (Physical dimensions of the arm)
    arm_params: ArmParameters = ArmParameters()
    arm_params.a2x = 0
    arm_params.a2z = 172.48
    arm_params.a3z = 173.5
    arm_params.a4z = 0
    arm_params.a4x = 126.2
    arm_params.a5x = 64.1
    arm_params.a6x = 169

    controller = ArmController(arm_parameters=arm_params)
    controller.start(websocket_server=False, wait=True)

    controller.set_setting_joints(Settings.STEPS_PER_REV_MOTOR_AXIS, 400)
    controller.home()

    # Move to a position
    position = ArmPose(x=320, y=0, z=250, pitch=0, roll=0, yaw=0)
    controller.move_to(position)
    controller.wait_done_moving()

    # Move to angles (rads)
    angles = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    controller.move_joints_to(angles)

    # Move the tool (rads)
    controller.set_tool_value(1.2)

    print("Homed:", controller.is_homed)