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PluginBallbarTracker

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PluginBallbarTracker

README.md

Ballbar Tracker

The Ballbar Tracker Plug-in for RoboDK allows you to attach a ballbar to a robot. A ballbar is fixed on it's origin and can rotate and extend to follow a TCP. This plug-in can be extended to simulate actuators.

Features

  • Attach/detach a ballbar to a robot from the UI and API
  • Retrieve reachability status from the API

Usage

Ballbar mechanism

A ballbar assume the following structure:

  • A parent frame corresponding to the origin of the ballbar, the rotation point.
  • A two-axis mechanism for rotating the ballbar in 3D. The first joint will be use to rotate around (+/- 180 degrees), and the second up and down (+/- 90 degrees).
  • A linear axis mechanism for extending and retracting the ballbar. You can set the range to 0 mm if your ballbar does not support this feature.
  • A child frame corresponding to the attachment point of the ballbar.

Attaching the ballbar

This plugin adds a "Attach ballbar" checkable menu item when right-clicking on a robot or a tool. When checked, the ballbar will be attached. If more than one ballbar is available, a prompt will appear to select the attachment frame of the ballbar.

Using the API

Here's a sample code to use this plugin through the API.

from robodk.robolink import ITEM_TYPE_TOOL, Robolink RDK = Robolink() item = RDK.ItemUserPick("Select TCP to attach to", ITEM_TYPE_TOOL) if not item.Valid(): quit() if RDK.PluginCommand("Ballbar Tracker", "Attach", item.Name()) != "OK": RDK.ShowMessage('Failed to attach ballbar to %s. Ensure the plugin is enabled (Shift+I)' % item.Name()) quit() RDK.ShowMessage('Ballbar attached to %s' % item.Name()) attached = RDK.PluginCommand("Ballbar Tracker", "Attached", item.Name()) == "1" reachable = RDK.PluginCommand("Ballbar Tracker", "Reachable", item.Name()) == "1" if RDK.PluginCommand("Ballbar Tracker", "Detach", item.Name()) != "OK": RDK.ShowMessage('Failed to detach ballbar from %s' % item.Name()) quit() RDK.ShowMessage('Ballbar detached from %s' % item.Name())

Attaching multiple ballbars

To attach multiple ballbars to the same robot, you will have to use the API. Here's an example for a tripod configuration:

from robodk.robolink import ITEM_TYPE_TOOL, Robolink RDK = Robolink() item = RDK.ItemUserPick("Select TCP to attach to", ITEM_TYPE_TOOL) if not item.Valid(): quit() if RDK.PluginCommand("Ballbar Tracker", "Attach", item.Name()) != "OK": RDK.ShowMessage('Failed to attach ballbar to %s. Ensure the plugin is enabled (Shift+I)' % item.Name()) quit() RDK.ShowMessage('Ballbar 1 attached to %s' % item.Name()) if RDK.PluginCommand("Ballbar Tracker", "Attach", item.Name()) != "OK": RDK.ShowMessage('Failed to attach ballbar to %s. Ensure the plugin is enabled (Shift+I)' % item.Name()) quit() RDK.ShowMessage('Ballbar 2 attached to %s' % item.Name()) if RDK.PluginCommand("Ballbar Tracker", "Attach", item.Name()) != "OK": RDK.ShowMessage('Failed to attach ballbar to %s. Ensure the plugin is enabled (Shift+I)' % item.Name()) quit() RDK.ShowMessage('Ballbar 3 attached to %s' % item.Name())