movel
Control TCP movement of Universal Robots by sending new positions via IP. Specify acceleration, speed, duration, and blend radius for precise linear motion control.
Instructions
发送新的TCP位置到指定IP的机器人，使TCP移动到指定位置，移动期间TCP作直线移动。 IP：机器人地址 pose：TCP位置 a：加速度（米每平方秒） v：速度（米每秒） t：移动时长（秒） r：交融半径（米）
Input Schema
TableJSON Schema
| Name | Required | Description | Default |
|---|---|---|---|
| a | No | ||
| ip | Yes | ||
| pose | Yes | ||
| r | No | ||
| t | No | ||
| v | No |
Implementation Reference
- The main handler function for the MCP tool 'movel'. It connects to the UR robot, executes the linear move command using robot.movel(), confirms completion with movelConfirm, and returns status.@mcp.tool() def movel(ip: str, pose: dict, a=1, v=1, t=0, r=0): """发送新的TCP位置到指定IP的机器人，使TCP移动到指定位置，移动期间TCP作直线移动。 IP：机器人地址 pose：TCP位置 a：加速度（米每平方秒） v：速度（米每秒） t：移动时长（秒） r：交融半径（米）""" try: if '连接失败' in link_check(ip): return return_msg(f"与机器人的连接已断开。") robot_list[ip].movel(pose, a, v, t, r) result = movelConfirm(ip, pose) cmd = f"movel(p{pose},{a},{v},{t},{r})" if result == 1: return return_msg(f"命令 {cmd} 已发送，移动完成。") else: return return_msg(f"命令 {cmd} 已发送，移动失败。") except Exception as e: logger.error(f"发送新的TCP位置到指定IP的机器人失败: {str(e)}") return return_msg(f"发送新的TCP位置到指定IP的机器人: {str(e)}")
- Helper function used by movel to confirm motion completion by polling TCP pose accuracy and program running status.def movelConfirm(ip, pose): """ movel移动的结果确认 1：移动到位 2：移动结束，但是位置不准确 """ loop_flg = True count = 0 while loop_flg: time.sleep(1) current_pose = round_pose(robot_list[ip].get_actual_tcp_pose()) if right_pose_tcp(current_pose, pose): robot_list[ip].robotConnector.DashboardClient.ur_running() running = robot_list[ip].robotConnector.DashboardClient.last_respond if running == 'Program running: false': return 1 else: robot_list[ip].robotConnector.DashboardClient.ur_running() running = robot_list[ip].robotConnector.DashboardClient.last_respond if running == 'Program running: true': '''尚未移动完成''' continue else: '''移动完成''' count = count + 1 if count > 5: return 2
- Helper to round pose coordinates to 3 decimal places, used in confirmation checks.def round_pose(pose): """给坐标取近似值，精确到三位小数""" pose[0] = round(pose[0], 3) pose[1] = round(pose[1], 3) pose[2] = round(pose[2], 3) pose[3] = round(pose[3], 3) pose[4] = round(pose[4], 3) pose[5] = round(pose[5], 3) return pose
- Helper to check if current TCP pose matches target within 10mm tolerance.def right_pose_tcp(current_pose_1, pose): """tcp位置是否一致的校验，这里允许10mm的误差""" if pose[0] + 0.010 >= current_pose_1[0] >= pose[0] - 0.010: if pose[1] + 0.010 >= current_pose_1[1] >= pose[1] - 0.010: if pose[2] + 0.010 >= current_pose_1[2] >= pose[2] - 0.010: return True return False
- Helper to check and establish robot connection if needed, used at start of movel.def link_check(ip): """检查连接状态，若连接断开或不存在，则建立连接""" if robot_list.get(ip, "unknown") == "unknown" or not robot_list[ ip].robotConnector.RTDE.isRunning(): return connect_ur(ip) return '连接成功'