Gripper Control

Follow along: Gripper Control

The program launching process along with parameter settings are all simplified and set up on the Jupyter Notebook Environment.
  • Open the 05_08_grip.ipynb Jupyter Notebook.
  • Load Arm_Lib module and register the robot arm as an object.
  • Follow and Execute the example codes.
(The Jetson Board used for these examples are => Jetson Nano)

  • 05_08_grip.ipynb

  • Running the cell code.
    Ctrl + Enter

  • To control the robot arm from code, don’t forget to shut down the docker container. See here.

  • Load Arm_Lib module and register the robot arm as an object.

import time
from Arm_Lib import Arm_Device

# Register robot arm object.
Arm = Arm_Device()
time.sleep(.1)

  • list = [motor 1, motor 2, motor 3, motor 4, motor 5, motor 6]

jonits_home = [90, 90, 90, 90, 90, 90]

# Open first position.
joints_0 = [39, 61, 23, 67, 89, 90]
# Close first position.
joints_1 = [39, 61, 23, 67, 89, 130]
# Heighten first position.
joints_2 = [39,107,37,67,89,130]
# Pick the rotated state.
joints_3 = [150,105,35,67,89,130]
# lower the rotated state.
joints_4 = [149,63,30,66,89,130]
# release the rotated state.
joints_5 = [149,63,30,66,89,90]

  • Pick and Place through servo motor and gripper control.

Arm.Arm_serial_servo_write6_array(jonits_home, 2000)

  • Arm_serial_servo_write6_array(list, time)

Arm_serial_servo_write6_array(list, time)

Arm.Arm_serial_servo_write6_array(joints_1, 500)
time.sleep(.1)

Arm.Arm_serial_servo_write6_array(joints_2, 2000)

Arm.Arm_serial_servo_write6_array(joints_3, 1500)

Arm.Arm_serial_servo_write6_array(joints_4, 1500)

Arm.Arm_serial_servo_write6_array(joints_5, 500)

  • Remove the robot arm object.

del Arm  # Remove robot arm object.