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