48 lines
2.1 KiB
Python
48 lines
2.1 KiB
Python
from fairino import Robot
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import time
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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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#负载辨识,此时末端安装要辨识的工具,工具安装在力传感器下方,末端竖直向下
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error = robot.FT_SetRCS(0) #设置参考坐标系为工具坐标系,0-工具坐标系,1-基坐标系
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print('设置参考坐标系错误码',error)
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time.sleep(1)
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tool_id = 10 #传感器坐标系编号
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tool_coord = [0.0,0.0,35.0,0.0,0.0,0.0] # 传感器相对末端法兰位姿
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tool_type = 1 # 0-工具,1-传感器
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tool_install = 0 # 0-安装末端,1-机器人外部
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error = robot.SetToolCoord(tool_id,tool_coord,tool_type,tool_install) #设置传感器坐标系,传感器相对末端法兰位姿
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print('设置传感器坐标系错误码',error)
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time.sleep(1)
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error = robot.FT_PdIdenRecord(tool_id) #记录辨识数据
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print('记录负载重量错误码',error)
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time.sleep(1)
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error = robot.FT_PdIdenRecord() #计算负载重量,单位kg
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print('计算负载重量错误码',error)
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#负载质心辨识,机器人需要示教三个不同的姿态,然后记录辨识数据,最后计算负载质心
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robot.Mode(1)
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ret = robot.DragTeachSwitch(1) #机器人切入拖动示教模式,必须在手动模式下才能切入拖动示教模式
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time.sleep(5)
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ret = robot.DragTeachSwitch(0)
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time.sleep(1)
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error = robot.FT_PdCogIdenRecord(tool_id,1)
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print('负载质心1错误码',error)#记录辨识数据
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ret = robot.DragTeachSwitch(1) #机器人切入拖动示教模式,必须在手动模式下才能切入拖动示教模式
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time.sleep(5)
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ret = robot.DragTeachSwitch(0)
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time.sleep(1)
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error = robot.FT_PdCogIdenRecord(tool_id,2)
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print('负载质心2错误码',error)
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ret = robot.DragTeachSwitch(1) #机器人切入拖动示教模式,必须在手动模式下才能切入拖动示教模式
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time.sleep(5)
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ret = robot.DragTeachSwitch(0)
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time.sleep(1)
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error = robot.FT_PdCogIdenRecord(tool_id,3)
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print('负载质心3错误码',error)
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time.sleep(1)
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error = robot.FT_PdCogIdenCompute()
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print('负载质心计算错误码',error)
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