from fairino import Robot # 与机器人控制器建立连接,连接成功返回一个机器人对象 robot = Robot.RPC('192.168.58.2') #恒力控制 status = 1 #恒力控制开启标志,0-关,1-开 sensor_num = 1 #力传感器编号 is_select = [0,0,1,0,0,0] #六个自由度选择[fx,fy,fz,mx,my,mz],0-不生效,1-生效 force_torque = [0.0,0.0,-10.0,0.0,0.0,0.0] gain = [0.0005,0.0,0.0,0.0,0.0,0.0] #力PID参数,力矩PID参数 adj_sign = 0 #自适应启停状态,0-关闭,1-开启 ILC_sign = 0 #ILC控制启停状态,0-停止,1-训练,2-实操 max_dis = 100.0 #最大调整距离 max_ang = 0.0 #最大调整角度 J1=[70.395, -46.976, 90.712, -133.442, -87.076, -27.138] P2=[-123.978, -674.129, 44.308, -178.921, 2.734, -172.449] P3=[123.978, -674.129, 42.308, -178.921, 2.734, -172.449] error = robot.MoveJ(J1,1,0) print("关节空间运动指令错误码",error) error = robot.MoveL(P2,1,0) print("笛卡尔空间直线运动指令错误码",error) error = robot.FT_Control(status,sensor_num,is_select,force_torque,gain,adj_sign,ILC_sign,max_dis,max_ang) print("恒力控制开启错误码",error) error = robot.MoveL(P3,1,0) #笛卡尔空间直线运动 print("笛卡尔空间直线运动指令错误码",error) status = 0 error = robot.FT_Control(status,sensor_num,is_select,force_torque,gain,adj_sign,ILC_sign,max_dis,max_ang) print("恒力控制结束错误码",error)