Advanced Applications

servo_move Tracking Motion

servo_move() receives a set of waypoints, performs smoothing based on timeStamp, and sends them to the servo for tracking motion.

ServoMovePara Parameter Description

Parameter	Type	Description
robotNum	int	Which robot to control
clearBuffer	bool	Whether to clear previously sent waypoints that have not started interpolation calculation
targetMode	int	0-Independent point; 1-Continuous trajectory
sendMode	int	0-Transmit all trajectory waypoints at once; 1-Transmit partial waypoints at once
runMode	int	0-Move after receiving all; 1-Move while receiving
sum	int	Total number of transmissions
count	int	Current transmission number
coord	int	0-Joint coordinate system; 1-Cartesian coordinate system
size	int	Number of waypoints in this transmission
pos	vector<vector<double>>	2D array, first dimension is number of waypoints, second dimension is 7 joint angles or Cartesian coordinates
axisvel	vector<vector<double>>	Velocity of each axis
axisacc	vector<vector<double>>	Acceleration of each axis
timeStamp	vector<double>	Time to reach each waypoint (unit: ms)

Prerequisites

In run mode, you need to run a job file containing the external point command on the controller (the external point command is responsible for receiving data transmitted by servo_move).

Example: Continuous Trajectory One-time Transmission

def test_7000(socketFd):
    print('Starting test 7000...')
    socket_7000 = aa.connect_robot("192.168.1.13", "7000")
    servomovepara = aa.ServoMovePara()
    pos = aa.VectorVectorDouble()
    time = aa.VectorDouble()

    time_pos = [50, 100, 150, 200, 250, 300, 350, 400, 450, 500, 550]
    for value in time_pos:
        time.append(value)

    axis_pos = [
        [0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 1, 0],
        [0, 0, 0, 0, 0, 2, 0],
        [0, 0, 0, 0, 0, 3, 0],
        [0, 0, 0, 0, 0, 4, 0],
        [0, 0, 0, 0, 0, 5, 0],
        [0, 0, 0, 0, 0, 6, 0],
        [0, 0, 0, 0, 0, 7, 0],
        [0, 0, 0, 0, 0, 8, 0],
        [0, 0, 0, 0, 0, 9, 0],
        [0, 0, 0, 0, 0, 10, 0],
    ]
    for value in axis_pos:
        pos.append(value)

    for k in range(11):
        servomovepara.pos = pos
    for j in range(11):
        servomovepara.timeStamp = time

    servomovepara.runMode = 0
    servomovepara.clearBuffer = True
    servomovepara.targetMode = 1
    servomovepara.coord = 0
    servomovepara.size = 11

    result = aa.servo_move(socket_7000, servomovepara)
    print("return ", result)

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