Robotic Arm Up Down Left Right Movement

I. Experimental Approach

    This experiment controls the robotic arm to move up, down, left, and right, then return to an upright state. By simultaneously controlling servos 3 and 4 at different angles, the up and down movement function is achieved, then servo 1 is controlled for left and right movement, and finally it returns to the upright state.

II. Start Docker

After entering the main board desktop, open a terminal and run the following command to start the corresponding Dofbot container:

xxxxxxxxxx
./Docker_Ros.sh

Then enter the following command in the Docker terminal to start jupyter-lab,

xxxxxxxxxx
cd
jupyter-lab --allow-root

Then enter the main board's IP address followed by :9999 in the browser,

xxxxxxxxxx
IP:9999         // Example: 192.168.1.11:9999

III. Code Content

Code path: /root/Dofbot/3.ctrl_Arm/6.left_right.ipynb

xxxxxxxxxx
#!/usr/bin/env python3
#coding=utf-8
import time
from Arm_Lib import Arm_Device
# Create robotic arm object
Arm = Arm_Device()
time.sleep(.1)

xxxxxxxxxx
def main():
 # Reset servos to center position
     Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 500)
     time.sleep(1)
     while True:
         # Control servos 3 and 4 for up and down movement
         Arm.Arm_serial_servo_write(3, 0, 1000)
         time.sleep(.001)
         Arm.Arm_serial_servo_write(4, 180, 1000)
         time.sleep(1)
 
         # Control servo 1 for left and right movement
         Arm.Arm_serial_servo_write(1, 180, 500)
         time.sleep(.5)
         Arm.Arm_serial_servo_write(1, 0, 1000)
         time.sleep(1)
        # Control servos to return to initial position
         Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1000)
         time.sleep(1.5)
try :
    main()
except KeyboardInterrupt:
    print(" Program closed! ")
    pass

xxxxxxxxxx
del Arm # Release the Arm object