Moving the Robot Arm

Follow along: Moving the Robot Arm

The program launching process along with parameter settings are all simplified and set up on the Jupyter Notebook Environment.

• Open the 05_01_left_right.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)

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• 05_01_left_right.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)

• Run the below cell within your jupyter notebook.

# Repeat swinging the robot arm up and down
# Arm range = 0 ~ 180
def main():
    # Make all servos in the middle.
    Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 500)
    time.sleep(1)


    while True:
        # Move the 3rd and 4th servos up and down.
        Arm.Arm_serial_servo_write(3, 0, 1000)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 180, 1000)
        time.sleep(1)

        # Move the 1st and 5th servos left and right.
        Arm.Arm_serial_servo_write(1, 180, 500)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(5, 180, 500)
        time.sleep(0.51)
        Arm.Arm_serial_servo_write(1, 0, 1000)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(5, 0, 500)
        time.sleep(1.1)

        # Move servo to initial position.
        Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1000)
        time.sleep(1.5)


try :
    main()
except KeyboardInterrupt:
    # Move servo to initial position.
    Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1000)
    print(" Program closed! ")
    pass

• Remove the robot arm object.

del Arm  # Remove robot arm object.