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') #碰撞守护 actFlag = 1 #开启标志,0-关闭碰撞守护,1-开启碰撞守护 sensor_num = 1 #力传感器编号 is_select = [1,1,1,1,1,1] #六个自由度选择[fx,fy,fz,mx,my,mz],0-不生效,1-生效 force_torque = [0.0,0.0,0.0,0.0,0.0,0.0] #碰撞检测力和力矩,检测范围(force_torque-min_threshold,force_torque+max_threshold) max_threshold = [10.0,10.0,10.0,10.0,10.0,10.0] #最大阈值 min_threshold = [5.0,5.0,5.0,5.0,5.0,5.0] #最小阈值 P1=[-160.619,-586.138,384.988,-170.166,-44.782,169.295] P2=[-87.615,-606.209,556.119,-102.495,10.118,178.985] P3=[41.479,-557.243,484.407,-125.174,46.995,-132.165] error = robot.FT_Guard(actFlag, sensor_num, is_select, force_torque, max_threshold, min_threshold) #开启碰撞守护 print("开启碰撞守护错误码",error) error = robot.MoveL(P1,1,0) #笛卡尔空间直线运动 print("笛卡尔空间直线运动错误码",error) error = robot.MoveL(P2,1,0) print("笛卡尔空间直线运动错误码",error) error = robot.MoveL(P3,1,0) print("笛卡尔空间直线运动错误码",error) actFlag = 0 error = robot.FT_Guard(actFlag, sensor_num, is_select, force_torque, max_threshold, min_threshold) #关闭碰撞守护 print("关闭碰撞守护错误码",error)