75 lines
2.8 KiB
Python
75 lines
2.8 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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# 查询状态
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ret = robot.GetRobotInstallAngle()
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print("获取机器人安装角度", ret)
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ret = robot.GetActualJointPosDegree()
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print("获取当前关节位置 (角度)", ret)
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ret = robot.GetActualJointPosRadian()
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print("获取当前关节位置 (弧度)", ret)
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ret = robot.GetActualJointSpeedsDegree()
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print("获取关节反馈速度-deg/s", ret)
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ret = robot.GetTargetTCPCompositeSpeed()
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print("获取TCP指令合速度", ret)
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ret = robot.GetActualTCPCompositeSpeed()
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print("获取TCP反馈合速度", ret)
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ret = robot.GetTargetTCPSpeed()
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print("获取TCP指令速度", ret)
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ret = robot.GetActualTCPSpeed()
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print("获取TCP反馈速度", ret)
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ret = robot.GetActualTCPPose()
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print("获取当前工具位姿", ret)
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ret = robot.GetActualTCPNum()
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print("获取当前工具坐标系编号", ret)
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ret = robot.GetActualWObjNum()
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print("获取当前工件坐标系编号", ret)
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ret = robot.GetActualToolFlangePose()
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print("获取当前末端法兰位姿", ret)
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ret = robot.GetJointTorques()
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print("获取当前关节转矩", ret)
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ret = robot.GetTargetPayload(0)
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print("获取当前负载的质量", ret)
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ret = robot.GetTargetPayloadCog(0)
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print("获取当前负载的质心", ret)
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ret = robot.GetRobotCurJointsConfig()
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print("获取机器人当前关节配置", ret)
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ret = robot.GetSystemClock()
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print("获取系统时间", ret)
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ret = robot.GetDefaultTransVel()
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print("获取默认速度", ret)
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ret = robot.GetTCPOffset()
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print("获取当前工具坐标系", ret)
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ret = robot.GetWObjOffset()
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print("获取当前工件坐标系", ret)
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ret = robot.GetJointSoftLimitDeg()
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print("获取关节软限位角度", ret)
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ret = robot.GetRobotMotionDone()
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print("查询机器人运动是否完成", ret)
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ret = robot.GetRobotErrorCode()
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print("查询机器人错误码", ret)
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ret = robot.GetRobotTeachingPoint("11")
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print("查询机器人示教管理点位数据错误码", ret)
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J1=[90.442,-100.149,-90.699,-60.347,90.580,-47.174]
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P1=[70.414,368.526,338.135,-178.348,-0.930,52.611]
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ret = robot.GetInverseKin(0,P1,config=-1)
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print("逆运动学,笛卡尔位姿求解关节位置", ret)
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ret = robot.GetInverseKinRef(0,P1,J1)
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print("逆运动学,工具位姿求解关节位置,参考指定关节位置求解", ret)
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ret = robot.GetInverseKinHasSolution(0,P1,J1)
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print("逆运动学,工具位姿求解关节位置是否有解", ret)
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ret = robot.GetForwardKin(J1)
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print("正运动学,关节位置求解工具位姿", ret)
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ret = robot.GetRobotInstallAngle()
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print("获取机器人安装角度", ret)
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ret = robot.GetSSHKeygen() #获取SSH
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print("获取SSH", ret)
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ret = robot.ComputeFileMD5("/fruser/11.lua") #计算指定路径下文件的MD5值
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print("计算指定路径下文件的MD5值", ret)
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