24 lines
1.4 KiB
Python
24 lines
1.4 KiB
Python
from fairino import Robot
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# 与机器人控制器建立连接,连接成功返回一个机器人对象
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robot = Robot.RPC('192.168.58.2')
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#碰撞守护
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actFlag = 1 #开启标志,0-关闭碰撞守护,1-开启碰撞守护
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sensor_num = 1 #力传感器编号
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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
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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)
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max_threshold = [10.0,10.0,10.0,10.0,10.0,10.0] #最大阈值
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min_threshold = [5.0,5.0,5.0,5.0,5.0,5.0] #最小阈值
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P1=[-160.619,-586.138,384.988,-170.166,-44.782,169.295]
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P2=[-87.615,-606.209,556.119,-102.495,10.118,178.985]
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P3=[41.479,-557.243,484.407,-125.174,46.995,-132.165]
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error = robot.FT_Guard(actFlag, sensor_num, is_select, force_torque, max_threshold, min_threshold) #开启碰撞守护
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print("开启碰撞守护错误码",error)
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error = robot.MoveL(P1,1,0) #笛卡尔空间直线运动
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print("笛卡尔空间直线运动错误码",error)
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error = robot.MoveL(P2,1,0)
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print("笛卡尔空间直线运动错误码",error)
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error = robot.MoveL(P3,1,0)
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print("笛卡尔空间直线运动错误码",error)
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actFlag = 0
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error = robot.FT_Guard(actFlag, sensor_num, is_select, force_torque, max_threshold, min_threshold) #关闭碰撞守护
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print("关闭碰撞守护错误码",error) |