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robot_arm.py
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robot_arm.py
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# -*- coding: utf-8 -*-
"""Robot Arm.ipynb
Automatically generated by Colaboratory.
Original file is located at
https://colab.research.google.com/drive/1GaiZCwvmny45ceJ5V1Ciob8_kQhfzQxq
"""
# Commented out IPython magic to ensure Python compatibility.
# %matplotlib notebook
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.animation import FuncAnimation
from IPython.display import HTML
import math
class XY_Plotter:
"""Takes a list of (x,y) coordinates and creates two seperate lists: one for x and one for y"""
def __init__(self, points):
self.points = points
def getXframes(self):
x = []
for i in range(0,len(self.points)):
x.append(self.points[i][1])
return x
def getYframes(self):
y = []
for i in range(0,len(self.points)):
y.append(self.points[i][2])
return y
class Line_Generator:
"""Line_Generator creates a line from any two points"""
def __init__(self, x1, y1, x2, y2):
self.x1 = x1
self.y1 = y1
self.x2 = x2
self.y2 = y2
self.lineLength = self.getLineLength(self.x1, self.x2, self.y1, self.y2)
self.theta = math.atan2(y2-y1,x2-x1)
def getLineLength(self, x1, x2, y1, y2):
sum = (x1-x2)*(x1-x2) + (y1-y2)*(y1-y2)
return math.sqrt(sum)
def getLine(self):
x = self.x1
y = self.y1
points = []
t = 0
v = 0.5
oldD = self.lineLength+1
newD = self.lineLength
while (newD<oldD):
points.append([t, x, y, self.theta])
x += v * math.cos(self.theta)
y += v * math.sin(self.theta)
oldD = newD;
newD = self.getLineLength(x, self.x2, y, self.y2)
t+=1
return points
currentJoints = [[0.0,110.0],[0,110.0+105.0],[0,110.0+105.0+95.0],[25.0,110.0+105.0+95.0],[25.0,110.0+105.0+95.0+160.0]]
segmentLengths = [[0,110.0],[0,105.0],[0,95.0],[25.0,0],[0,160.0]]
# These are the vectors that correspond to the 10 steps of arm manipulation in order to pick up the threader and insert it into the needle
# the base angle, wrist angle, and claw state are not plotted, but they are still in the vectors
pos0 = [-90, 0, 0, 0, 0, 0]
pos1 = [90, 0, 0, 0, 0, 0]
pos2 = [90, 56.249, 113.015, -79.264, 0, 30]
pos3 = [90, 56.249, 113.015, -79.264, 0, 0]
pos4 = [0, 56.249, 113.015, -79.264, 0, 30]
pos5 = [0, 43.992, 81.787, -35.778, 90,0]
pos6 = [0, 59.866, 50.275, -20.141, 90, 0]
pos7 = pos6
pos8 = pos5
pos9 = pos0
class Joint_Locations_Generator:
"""Can calculate the positions of 5 points of the robot arm based on the given angles"""
def __init__(self, angles):
self.angles = angles
self.s = currentJoints
def getCoordinates(self):
# Each point's new positions is calculated, and all the corrdinates are returned
self.gets0()
self.gets1()
self.gets2()
self.gets3()
self.gets4()
return self.s
def gets0(self):
self.s[0] = [0,110]
def gets1(self):
self.s[1] = [self.s[0][0] + segmentLengths[1][1]*math.cos(math.radians(90.0-self.angles[1])),
self.s[0][1] + segmentLengths[1][1]*math.sin(math.radians(90.0-self.angles[1]))]
def gets2(self):
self.s[2] = [self.s[1][0] + segmentLengths[2][1]*math.cos(math.radians(90.0-(self.angles[1]+self.angles[2]))),
self.s[1][1] + segmentLengths[2][1]*math.sin(math.radians(90.0-(self.angles[1]+self.angles[2])))]
def gets3(self):
self.s[3] = [self.s[2][0] + segmentLengths[3][0]*math.cos(math.radians(-(self.angles[1]+self.angles[2]+self.angles[3]))),
self.s[2][1] + segmentLengths[3][0]*math.sin(math.radians(-(self.angles[1]+self.angles[2]+self.angles[3])))]
def gets4(self):
self.s[4] = [self.s[3][0] + segmentLengths[4][1]*math.cos(math.radians(90.0-(self.angles[1]+self.angles[2]+self.angles[3]))),
self.s[3][1] + segmentLengths[4][1]*math.sin(math.radians(90.0-(self.angles[1]+self.angles[2]+self.angles[3])))]
#create all the lines from the coodinates of a robot arm position
jlg = Joint_Locations_Generator(pos7)
cords = jlg.getCoordinates()
line1 = Line_Generator(cords[0][0],cords[0][1],cords[1][0],cords[1][1])
l1 = line1.getLine()
line2 = Line_Generator(cords[1][0],cords[1][1],cords[2][0],cords[2][1])
l2 = line2.getLine()
line3 = Line_Generator(cords[2][0],cords[2][1],cords[3][0],cords[3][1])
l3 = line3.getLine()
line4 = Line_Generator(cords[3][0],cords[3][1],cords[4][0],cords[4][1])
l4 = line4.getLine()
lines = l1+l2+l3+l4
p = XY_Plotter(lines)
# plotting the figure takes a long time, about 1 minute for 1000 frames to load
fig = plt.figure()
plt.xlim(-5, 350)
plt.ylim(-5, 200)
graph, = plt.plot([], [], 'o')
x = p.getXframes()
y = p.getYframes()
def animate(i):
graph.set_data(x[:i+1], y[:i+1])
return graph
ani = FuncAnimation(fig, animate, frames=1000, interval=10)
HTML(ani.to_html5_video())