vcRobotController

vcRobotController allows you control a robot and drive its joints. If you need realistic robot simulation, use vcRrsRobotController.

See in: Overview

Module: vcRobotics

Parent: vcServoController

Children -

Referenced by: vcRrsRobotController.InternalController

Properties

Learn how to use properties here. The properties are also inherited from the parent class.

Name	Type	Access	Description
ApproachAxis	vcApproachAxis	RW	Defines how to orient the robot based on the orientation of the active tool frame.
Bases	vcList[vcBaseFrame]	R	Gets a list of all base frames available in controller.
ConfigurationMode	vcMotionConfigurationMode	RW	Defines the configuration mode for joints driven by robot controller during linear motion interpolation. See more 0 = Fixed No change. That is, current configuration is used and does not change. 1 = Follow frame Configuration closest to previous joint values is used. 2 = Interpolate joint values Configuration is determined by point-to-point interpolation of joint values.
FlangeOffset	String	RW	Defines an offset from flange node origin. See more Generally, this is used when flange node origin is not the exact place where to mount a tool or kinematics structure to end of robot arm.
Kinematics	vcBehavior	RW	Defines the kinematics object used by the controller which describes the robot's kinematic structure.
LagTime	Real	RW	If linear motion, defines default lag time.
MaxAngularAccel	Real	RW	If linear motion, defines maximum acceleration for angular movement (degrees/s^2).
MaxAngularSpeed	Real	RW	If linear motion, defines maximum speed for angular movement (degrees/s).
MaxCartesianAccel	Real	RW	If linear motion, defines maximum acceleration for linear movement (mm/s^2).
MaxCartesianSpeed	Real	RW	If linear motion, defines maximum speed for linear movement (mm/s).
OrientationInterpolationMode	vcMatrixMode	RW	Defines the orientation interpolation mode for linear movement.
RootOffset	String	RW	Defines an offset from root node origin, thereby defining the start of kinematics structure.
SettleTime	Real	RW	If linear motion, defines default settle time.
Tools	vcList[vcToolFrame]	R	Gets a list of all tool frames available in controller.
TrackWorldFrameMode	vcTrackWorldFrame	RW	Defines Robot World Frame (RWF) of robot when mounted on track. 0 Track origin is used as RWF. 1 RWF of robot is used as RWF.
WorldTransformMatrix	vcMatrix	RW	Defines Robot World Frame of robot.

Methods

Learn how to use methods here. The methods are also inherited from the parent class.

Name	Return Type	Parameters	Description
addBase	vcBaseFrame	None	Adds a new base frame to controller. Returns: vcBaseFrame: new base frame
addTarget	None	vcMatrix matrix, Optional Keyword[tmode = Integer]	Adds a given motion target or target matrix to robot target list. See more If target matrix, current settings of robot controller are used and an optional target_mode can be given to define how target relates to robot. This is similar to moveTo() method. Generally, you use addTarget() when you are creating a batch of targets and the robot will use non-zero accuracy limits. Parameters: (target: vcMotionTarget) or (matrix: vcMatrix, target_mode: vcMotionTargetMode (optional))
addTarget	None	vcMotionTarget target	-
addTool	vcBaseFrame	None	Adds a new tool frame to controller. Returns; vcBaseFrame: new tool frame
clearTargets	None	None	Removes all motion targets and target matrices from robot target list.
createMotionInterpolator	vcMotionInterpolator	None	Creates a new motion interpolator for robot. Returns: vcMotionInterpolator: motion interpolator.
createTarget	vcMotionTarget	Optional Keyword[matrix = vcMatrix]	Create a new motion target using current controller settings, and then returns the new motion target. See more An optional matrix argument can be given to define target matrix of target. Parameters: matrix: vcMatrix (optional) Returns: vcMotionTarget: created target.
move	object	None	Moves robot to all targets in robot target list. Python execution will wait until robot has motioned to all previously added targets.
moveImmediate	None	vcMatrix matrix, Optional Keyword[tmode = Integer]	Moves robot to a given target immediately. An optional target_mode argument can be given to define how target relates to robot. See more Parameters: target: vcMotionTarget target_mode: vcMotionTargetMode (optional)
moveImmediate	None	vcMotionTarget target	-
moveRelTo	object	vcVector offset, Optional Keyword[tmode = Integer]	Moves robot to a position relative to current robot pose using current controller settings. See more An optional target_mode argument can be given to define how target relates to robot. Parameters: (offset: vcVector, target_mode: vcMotionTargetMode) (X: Real, y: Real, z:Real, target_mode: vcMotionTargetMode)
moveRelTo	object	Real x, Real y, Real z, Optional Keyword[tmode = Integer]	-
moveTo	object	vcMatrix matrix, Optional Keyword[tmode = Integer]	Moves robot to a given target or matrix, thereby clearing any previously added targets. See more An optional target_mode argument can be given to define how target relates to robot. Parameters: (target: vcMotionTarget) (matrix: vcMatrix, target_mode: vcMotionTargetMode)
moveTo	object	vcMotionTarget target	-
removeBase	None	vcBaseFrame base	Removes a given Base from controller. Parameters: Base (vcBaseFrame): Base to remove
removeTool	None	vcBaseFrame tool	Removes a given Tool from controller. Parameters: Tool (vcBaseFrame): Tool to remove

Events

Learn how to use events here. The events are also inherited from the parent class.

Name	Parameters	Description
OnPosition	None	Triggered when robot reaches a motion target in its robot target list. Parameters: robot: vcRobotController

Example: Move Robot

"""Move robot"""

import vcCore as vc
import vcBehaviors as vc_beh
import vcRobotics as vc_robo

app = vc.getApplication()
comp = vc.getComponent()


async def OnRun():
  """Move robot with vcRobotController"""
  ctr = comp.findBehavior(vc_beh.vcBehaviorType.ROBOT_CONTROLLER)
  ctr.clearTargets()
  
  # Create motion target and set it up
  motion_target = ctr.createTarget()
  motion_target.BaseName = ctr.Bases[0].Name
  motion_target.ToolName = ctr.Tools[0].Name
  motion_target.JointValues = [x.CurrentValue for x in ctr.Joints]
  motion_target.RobotConfig = 0
  
  # Create target matrix
  target_matrix = vc.vcMatrix.new()
  target_matrix.P = vc.vcVector.new(800.0, -200.0, 600.0)
  target_matrix.WPR = vc.vcVector.new(0.0, 180.0, 0.0)
  
  # Add first motion as PTP
  motion_target.MotionType = vc_robo.vcMotionType.JOINT
  motion_target.Target = target_matrix
  motion_target.JointSpeedFactor = 1.0
  ctr.addTarget(motion_target)
  
  # Reuse motion target object for next motions, just change motion type and target matrix
  motion_target.MotionType = vc_robo.vcMotionType.LINEAR
  motion_target.CartesianSpeed = 200.0
  target_matrix.P = vc.vcVector.new(1200.0, -200.0, 600.0)
  motion_target.Target = target_matrix
  ctr.addTarget(motion_target)
  target_matrix.P = vc.vcVector.new(1200.0, 200.0, 600.0)
  motion_target.Target = target_matrix
  ctr.addTarget(motion_target)
  target_matrix.P = vc.vcVector.new(800.0, 200.0, 600.0)
  motion_target.Target = target_matrix
  ctr.addTarget(motion_target)
  target_matrix.P = vc.vcVector.new(800.0, -200.0, 600.0)
  motion_target.Target = target_matrix
  ctr.addTarget(motion_target)
  
  # Move robot through all targets
  await ctr.move()