RM501 Pi - Mitsubishi Move Master II Robot Control System

Overview

This project provides a control system for the Mitsubishi RM501 Move Master II robotic arm using a Raspberry Pi and RoboClaw motor controllers. The system features a Streamlit-based user interface for intuitive robot control, position saving, and sequence automation.

Features

• Interactive UI Control: Position control via sliders and buttons
• Waypoint Management: Save, load, and execute robot positions
• CSV Support: Import/export position sequences
• Differential Wrist Control: Precise control of wrist pitch and roll
• Gripper Control: Open/close with adjustable timing

Prerequisites

• Raspberry Pi connected to RM501 via RoboClaw controllers
• Python 3.6+
• Required Python packages (see Installation)

Usage

Robot Calibration

To calibrate run rm501_lib/roboclaw_python/calibrate_arm_v2.py.

Running the Control Interface

To run mini-app:

cd rm501_lib/roboclaw_python
streamlit run app_csv_wrist.py

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This script launches a Streamlit-based UI to control the RM501 robotic arm using sliders and buttons. It allows users to:

• Manually control the arm via UI controls.
• Save waypoints (specific arm positions).
• Save and load sequences of waypoints from CSV files.
• Calibrate the arm and claw.
• Execute saved movement sequences.

Overview

Robot Initialization

• Establishes serial communication with the RM501 roboclaw motor controllers.
• Initializes encoder values and sets default motor positions.
• Closes the gripper on startup.

Manual Adjustments

• Sliders to control Motor 1, 2, 3.
• Buttons to move the wrist (up, down, left, right).
• Controls to open/close the gripper with a set duration.

Saving & Loading Positions

• Save current arm positions as waypoints.
• Load previously saved waypoints from CSV files.
• Modify waypoint sequences and execute movements.

Calibration & Reset

• Calibrate the arm and claw.
• Set and return to claw zero position.

Executing Movements :)

• Click each waypoint to move the arm to a saved position.
• Execute all saved positions in sequence automatically.
• Displays real-time joint angles for each motor.

Usage Instructions

Running the UI

Ensure the RM501 robotic arm is connected to the Raspberry Pi before running:

streamlit run app_wrist_csv.py

Interacting with the UI

1. Move the arm manually using sliders and buttons.
2. Save specific positions by entering a name and clicking Save Position.
3. Load saved positions from a CSV file.
4. Click on saved waypoints to move the arm.
5. Execute all saved waypoints sequentially.
6. Calibrate the arm and claw before precise movements.

Saving & Loading Positions

• Enter a CSV file name and click Save Positions to store waypoints.
• To reload a sequence, enter the file name and click Load Positions.
• Positions can be modified and executed step-by-step.

Executing Sequences

Click Execute Saved Positions to move through all stored waypoints automatically.

Notes

• The arm must be calibrated before execution.
• The claw must point upwards with the red stripe facing forward before operation.
• The Raspberry Pi must be connected to the RM501 roboclaw.