movel
Send TCP position commands to Universal Robots collaborative robots for linear motion control. Specify robot IP, target pose, acceleration, velocity, duration, and blend radius parameters.
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 |
|---|---|---|---|
| ip | Yes | ||
| pose | Yes | ||
| a | No | ||
| v | No | ||
| t | No | ||
| r | No |
Implementation Reference
- MCP tool handler for 'movel': executes linear motion to a target TCP pose on the specified UR robot IP, sends the command via robot.movel, waits, and confirms arrival using movelConfirm.@mcp.tool() def movel(ip: str, pose: list, 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。") cmd = f"movel(p{pose},{a},{v},{t},{r})" logger.info(f"发送脚本:{cmd}") robot_list[ip].movel(pose, a, v, t, r) time.sleep(1) result = movelConfirm(ip, pose) 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 to confirm if the robot has reached the target TCP pose after a movel command by polling position and program state.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 function to check if current TCP pose matches target pose within 10mm tolerance, used in movelConfirm.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 round pose coordinates to 3 decimal places for comparison.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