Mortti is puma560 robot arm owned by AS-guild. In this repository you can find python scripts for controlling and simulating the robot arm.
Note: Always simulate before running the robot arm! Shutdown button's wire is shorter than the robot arm's reach 💀
- Install python
- jupyter notebook extensions etc
- install requirements.txt TODO
- Get wild with mortti
- Mortti's reach is not enough to press the shutdown button
- Roboticstoolbox uses swift library to render Mortti. There is small filepath parsing bug on windows.
- Mortti's joint j3 is not limitet to 0-180 degrees. Libraries usually assume this and have to be manually fixed. (fix file in C:\Users\Emil\AppData\Local\Programs\Python\Python310\Lib\site-packages\rtbdata\xacro\puma560_description\urdf)
<joint name="j3" type="revolute">
<parent link="link3"/>
<child link="link4"/>
<origin xyz="${l3_3} 0 ${l3_2}" rpy="0 0 ${M_PI/2}"/><!-- X-forward, Y-Up, Z-right -->
<axis xyz="0 0 1"/> <!-- This is descibed in child frame -->
<!--<limit effort="1000.0" lower="${-M_PI/2}" upper="${M_PI/2}" velocity="0"/>-->
<limit effort="1000.0" lower="${-M_PI}" upper="${M_PI}" velocity="0"/>
</joint>- Mortti's joint j1 is turned 90 degrees left (+ pi/2) compared to the default puma560 model. This has to be taken into account when using libraries that assume default puma560 model.
- Mortti is slow to reach the target position. This is related to used pid values and feedback being potentiometer based? -> Solution: Do not spam whole trajectory, filter out unnecessary points.
Fix: TODO add link to fix
More info about Mortti and communication protocol can be found from https://github.com/tkln/motor-controller-fw
Example move routes and scripts can be found from https://github.com/tkln/motor-controller-fw/tree/master/roboscripts
TODO parse these automatically and simulate them