Bras-robot Velleman KSR10 contrôlé avec Python en usb.

Bras-robot Velleman KSR10 contrôlé avec Python en usb.

1) Configuration de l’usb :

[~] ➔ sudo usermod -aG plugdev util01

Ouvrir :

/etc/udev/rules.d/850robotarm.rules

Ajouter :

SUBSYSTEM=="usb", ATTRS{idVendor}=="1267",ATTRS{idProduct}=="0000", ACTION=="add",GROUP="plugdev", MODE="0666"

2) Installation des paquetages pour Python :

[~] ➔ sudo apt-get install python-pip
[~] ➔  sudo pip install pyusb --upgrade

3) Redémarrer le RaspberryPi.

4) Brancher le bras-robot.

5) Vérification :

[~] ➔ lsusb
...
Bus 001 Device 013: ID 1267:0000 Logic3 / SpectraVideo plc
...
[~] ➔ dmesg
...
[  153.645920] usb 1-1.2: new low-speed USB device number 13 using dwc_otg
[  153.748120] usb 1-1.2: New USB device found, idVendor=1267, idProduct=0000
[  153.748152] usb 1-1.2: New USB device strings: Mfr=0, Product=0, SerialNumber=0
[  177.287113] usb 1-1.3.2.2: reset high-speed USB device number 11 using dwc_otg

6) Répertoire de travail

[~] ➔ mkdir -p BRASROBOT
[~] ➔ cd BRASROBOT/
[~/BRASROBOT] ➔

7) Récupération du code source :

[~/BRASROBOT] ➔ git clone https://github.com/peterlavelle/maplinarm
[~/BRASROBOT] ➔ cd maplinarm/
[~/BRASROBOT/maplinarm (master)] ➔

8) Teste de l’exemple :

[~/BRASROBOT/maplinarm (master)] ➔ ./commander.py commands.csv
Running command 'shoulder-up' for a duration of 1.000000 second(s) with a pause of 1.000000 second(s)
Sending command shoulder-up

Done.

Running command 'elbow-down' for a duration of 1.000000 second(s) with a pause of 2.000000 second(s)
Sending command elbow-down

Done.

Running command 'base-clockwise' for a duration of 4.000000 second(s) with a pause of 1.000000 second(s)
Sending command base-clockwise

Done.

Running command 'shoulder-down' for a duration of 1.000000 second(s) with a pause of 1.000000 second(s)
Sending command shoulder-down

Done.

Running command 'grip-close' for a duration of 1.000000 second(s) with a pause of 1.000000 second(s)
Sending command grip-close

Done.

Running command 'base-anti-clockwise' for a duration of 4.000000 second(s) with a pause of 2.000000 second(s)
Sending command base-anti-clockwise

Done.

Running command 'grip-open' for a duration of 1.000000 second(s) with a pause of 1.000000 second(s)
Sending command grip-open

Done.

Running command 'elbow-up' for a duration of 1.000000 second(s) with a pause of 2.000000 second(s)
Sending command elbow-up

Done.


All commands executed. Stopping the arm

9) Vidéos :

[youtube]http://www.youtube.com/watch?v=2d96-kU7FNU[/youtube]

[youtube]http://www.youtube.com/watch?v=2p1a7tmMN5M[/youtube]

10) Liens :

http://magpi.finalart.hu/The-MagPi-issue-14-en.pdf : page 8

Gotronic :
– Bras robotisé KSR10 : http://www.gotronic.fr/art-bras-robotise-ksr10-11672.htm
– Interface KSR10/USB : http://www.gotronic.fr/art-interface-ksr10-usb-11673.htm

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