delta_robot_manager

To use Delta and Gripper commands follow these instructions:

Import this library

from delta_manager.delta_manager import DeltaManager

Use the library using this line...

Delta = DeltaManager()

Commands you can use:

Write this line to connect to the Gripper

Note

Connect to the Gripper using its USB cable and turn its power on

Caution

DO NOT REMOVE THE USB CABLE WHILE THE POWER IS ON

Delta.connect_gripper()

Gripper functions (using server):

Gripper open:

Delta.delta_open_gripper()

Gripper close:

Delta.delta_close_gripper()

Gripper rotation

Delta.delta_rotate_gripper(angle)

Note

Angle in degree -90:90 (it is relative to the current angle)

Gripper functions (using cable):

Gripper open:

Delta.open_gripper()

Gripper open a bit:

Delta.open_gripper_aBit()

Gripper close:

Delta.close_gripper()

Gripper closes with feedback:

Delta.close_gripper_with_feedback()

Note

Returns the result of Grasping: "DoneGrasp" or "failed"

Gripper rotate:

Delta.rotate_gripper(angle):

Note

Angle in degree -90:90 (it is relative to the current angle)

Gripper force:

Delta.force_gripper(force):

Note

int from 1 to 5000 uncomment it from delta_manager.py and ask Navid Asadi if you want to use it.

Gripper wait:

Delta.wait_till_done()

Delta Parallel Robot(DPR) functions:

Note

Connect to Taarlabs WIFI/ Use Delta robot's GUI/ Enable it/ REMOVE BARS and put it in server mode.

Caution

BY ENABLING THE ROBOT EACH ARM MUST GO UP TO HIT FRAME AND THEN THEY'LL GO BACK TO REACH ITS HOMING POSITION. DON'T FORGET TO REMOVE BARS AFTER HOMING PROCEDURE!!!!!!!!!!!

Delta home:

Delta.go_home()

Note

Preset position of x:0, y:0, z:-37

Delta move:

Delta.move(x, y, z)

Note

Moves in 5 seconds

Delta move with the given time:

Delta.move_with_time(x, y, z, t)

Warning

Don't use times less than 2 seconds ask Navid Pasiar or Arvin Mohammadi if you want.

Delta wait till done:

Delta.wait_till_done_robot()

Delta End Effector coordinates:

x,y,z = Delta.read_forward()

Delta stop server:

Delta.delta_stop_server()

To use camera coordinates to move Delta follow these instructions:

Note

Move the robot to (0,0,-37) (you can capture images and get coordinates wherever you want.)

Import these libraries

import cv2
import numpy as np
import delta_manager.camera as Camera
from delta_manager.delta_manager import DeltaManager

Get video input from DPR's camera

cap = cv2.VideoCapture(2, cv2.CAP_DSHOW)

WIDTH = 4000
HEIGHT = 4000
fourcc = cv2.VideoWriter_fourcc(*'XVID')
cap.set(cv2.CAP_PROP_FRAME_WIDTH, WIDTH)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, HEIGHT)

while True:
    _, frame = cap.read()

    # Undistort the frame
  # DON'T miss this part!!!!!!!!
    frame = Camera.undistort(frame)    

To convert (U, V) pixel coordinates to (X, Y, Z) Delta Parallel Robot use:

using_fom_flag = input("Are you using fom?(Y/N)")
if using_fom_flag.upper() == "Y":
    z_fom = 2
else:
    z_fom = 0
z_obj = 1.9 # Put your objects height here

[x, y, z] = Camera.pixel_to_robot_coordinates(
    (u, v), 
    z_obj = z_fom + z_obj, 
    gripper='2f85',
    robot_capturing_coord=np.array(Delta.read_forward())
)
z -= (z_obj/2) # if the height of your objects is short
# else z -= 2 or 3 cm