UR5L Robot Arm: Inverse Kinematics and Gripper Control

This code defines functions and variables for controlling a UR5L robot arm in a simulation environment (likely CoppeliaSim or VREP). The focus is on using inverse kinematics (IK) and a gripper to interact with objects.

Functions

• enableIk(enable): Enables or disables inverse kinematics for the UR5L arm. When enable is true, it sets the joint modes to sim.jointmode_ik for IK control, while enable being false switches the modes to sim.jointmode_force for force control.
• pendingForGripper(attachHandle, signal): This function waits for the gripper to finish either loosening or tightening based on the signal parameter. It continuously checks for a child object attached to the gripper.
• loosegripper(signal): Handles opening or closing the gripper. If signal is true, it sets a signal (RG2l_open) to open the gripper, while false signals (RG2l_open) to close it. It also waits for a signal (RG2lRing) indicating completion of the gripper action.
• backToWait(waitPos, waitQuat): Moves the arm back to a designated waiting position using waitPos and waitQuat for position and orientation.
• gripCube(gripPos): Grabs a cube at a specified position (gripPos). It reads data from a vision sensor (Vsup) to determine the correct orientation for gripping and then uses IK to position the arm accordingly.
• deliverCube(exchangePos, exchangeQuat): Delivers a cube to a designated position (exchangePos) with orientation (exchangeQuat). It waits for a signal (doorRing) from another robot indicating the delivery platform is ready, then moves the arm to the delivery location and opens the gripper. It also sends a signal (doorRing) to another robot to inform it that the cube has been delivered.

Main Thread (sysCall_threadmain)

The main thread initializes various variables:

• jointHandles: An array to store the handles of each joint in the UR5L arm.
• ikGroupHandle: The handle of the IK group for the arm.
• ikTip: The handle of the end effector (tip) of the arm.
• attachPoint: The attachment point of the gripper.
• ikTarget: The target position for IK calculations.
• exchange: The handle of the delivery location object.
• waitHandle: The handle of the waiting position object.
• topSensor: The handle of the vision sensor.

It then retrieves the positions and orientations of the waiting position (waitPos, waitQuat), the grip position (gripPos, gripQuat), and the exchange position (exchangePos, exchangeQuat).

The main loop then executes the following sequence:

1. enableIk(true): Enables IK control for the arm.
2. loosegripper(true): Opens the gripper.
3. backToWait(waitPos, waitQuat): Moves the arm back to the waiting position.
4. sim.waitForSignal('beltRing'): Waits for a signal (beltRing) indicating a cube is available to be gripped.
5. gripCube(gripPos): Grabs the cube using IK to position the arm and close the gripper.
6. backToWait(waitPos, waitQuat): Moves the arm back to the waiting position.
7. sim.clearIntegerSignal('beltRing'): Clears the beltRing signal.
8. deliverCube(exchangePos, exchangeQuat): Delivers the cube to the exchange position and signals the other robot to take it.
9. enableIk(false): Disables IK control for the arm.

The code demonstrates a simple automation process using a UR5L robot arm in a simulated environment. It effectively showcases how to use IK, gripper control, and signal handling to manage the movement and interaction of the robot with objects and other robots in the simulation.

Note: The code uses CoppeliaSim (VREP) specific functions and constants. These might need to be adapted if using a different simulation software.