Robotic Manipulation

• Robotic Manipulation
  • Setup
  • Controlling the robot

Setup

Clone the repo and create a virtual environment. We use Python 3.10.12.

# Create a virtual environment in the project root
python3 -m venv env

# Add the project to the PYTHONPATH in the virtual environment
echo 'export PYTHONPATH="$PYTHONPATH:/absolute/path/to/hs-robotic-manipulation-course"' >> env/bin/activate
# change this to be your directory path to hs-robotic-manipulation-course
# cd into hs-robotic-manipulation-course then run pwd to find your path
# ex: echo 'export PYTHONPATH="$PYTHONPATH:/home/ttic/Desktop/hs-robotic-manipulation-course"' >> env/bin/activate

# Activate the virtual environment
source env/bin/activate

# Install the dependencies
pip install -r requirements.txt
#only necessary the first time

# To deactivate the virtual environment

deactivate



#NEW WAY TO RUN VIRTUAL ENVIRONMENT USING 'virtual.sh'
#virtual.sh is a shell file that will do most of the work for you
#running './virtual.sh' runs the file then will prompt you to complete setting up the environment by activating it
#steps
#On first run make the file executable
#in the hs-robotic-manipulation-course path
chmod +x ./virtual.sh
#Run the shell file
./virtual.sh
#Activate the environment
source env/bin/activate
#If it is the first time activating the environment on the device run 
pip install -r requirements.txt


#Deactivate the virtual environment 
deactivate

Controlling the robot

First, in config.json, modify device_name to the USB port name on your PC. For example, mine is "device_name": "/dev/ttyACM2".

Then, cd into the robotics/ directory and run the script: python position_control.py.

The script will prompt you to enter a servo ID (which we set 1-6 from base to gripper) and a delta position, which is the amount (in degrees) to move the servo by. Positive and negative values move the servo in opposite directions. PLEASE USE SMALL VALUES FOR DELTA POSITION WHEN STARTING OUT! Otherwise, the arm may run into the table and damage itself.

Note: in case of emergency, unplug the power source!!!

Note: motor 3 is the 5V motor supporting the most weight. Thus, when rotating that joint up, you need a positive delta of at least 15.