Nachi Socket Lib

MATLAB and Python wrappers for tcp websocket-based control of the Nachi MZ07 robot arm.

First-time Robot Configuration

The files in src/nachi need to be transferred to the robot and compiled. The notes in this document may be helpful.

Usage

Robot Setup

Follow the instructions in this document to prepare the robot for computer control.

MATLAB:

Place the Arm.m file in your current working directory.

a = Arm %create arm object
a.ip = '127.0.0.1' %set ip
a.port = 10300 %set port
a.connect %connect
a.setxyz([400 0 500]) %set x,y,z coordinates to (400, 0, 500)
a.setpose([500 0 400 180 0 -120]) %you can also modify end effector angles
a.setjoints([0 80 0 0 0 0]) %or control each joint separately
reading = a.reading %get force sensor readings, arm's current coordinates, and joint angles
a.disconnect %close connection

Python:

Place the arml.py file in your current working directory.

import arml

a=arml.Arm('127.0.0.1', 10300) #create an Arm object, set the ip and port
a.connect() #connect
a.setxyz([400,0,500]) #set x,y,z coordinates to (400, 0, 500)
a.setpose([500, 0, 400, 180, 0, -120]) #you can also modify end effector angles
a.setjoints([0,80,0,0,0,0]) #or control each joint separately
reading = a.reading() #get force sensor readings, arm's current coordinates, and joint angles
a.disconnect() #close connection

TODO:

• End effector angle readings are currently wrongly returned as 0.