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') #负载辨识滤波初始化 error = robot.LoadIdentifyDynFilterInit() print("LoadIdentifyDynFilterInit:",error) #负载辨识变量初始化 error = robot.LoadIdentifyDynVarInit() print("LoadIdentifyDynVarInit:",error) joint_torque= [0,0,0,0,0,0] joint_pos= [0,0,0,0,0,0] gain=[0,0.05,0,0,0,0,0,0.02,0,0,0,0] t =10 error,joint_pos=robot.GetActualJointPosDegree(1) joint_pos[1] = joint_pos[1]+10 error,joint_torque=robot.GetJointTorques(1) joint_torque[1] = joint_torque[1]+2 #负载辨识主程序 error = robot.LoadIdentifyMain(joint_torque, joint_pos, t) print("LoadIdentifyMain:",error) #获取负载辨识结果 error = robot.LoadIdentifyGetResult(gain) print("LoadIdentifyGetResult:",error)