Getting live data while arm is moving

1

Hi,
I’m starting a C++ application which need to collect positions or joints values while xarm is moving.

The application should grab data from a force sensor and get robot position to be able to setup a file (CVS) with displacement (mm in Z direction) and force (N). So the stiffness could be calculated after the experiment.

My idea is to setup a timer (or event) which collect both data and store them in a flie.

Does get_position(fp32 pose[6]) will suite my purpose ?

Regards.
Olivier.

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2

Hi Olivier,

We provide the data reporting function via com ports 30001,30002,30003, please refer to the developer manual and the below example.

xArm-Python-SDK/get_report_data_with_protocol.py at master · xArm-Developer/xArm-Python-SDK · GitHub
https://www.ufactory.cc/download-xarm-robot

Best regards,
Minna

3

Thanks for the information.
Do you have a CPP sample ?

Regards.
Olivier.

4

Hi Olivier,

No CPP sample for data reported for now, please try it yourself first.

Best regards,
Minna

5

Hi Olivier,

Attached script for the data report for your reference.
image

Best regards,
Minna
get_report_data_with_protocol.cc (3.3 KB)