45 lines
2.0 KiB
Python
45 lines
2.0 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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name = "/fruser/traj/trajHelix_aima_1.txt" #轨迹名
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blend = 1 #是否平滑,1-平滑,0-不平滑
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ovl = 50.0 #速度缩放
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ft =[0.5, 0.5, 0.5, 0.5, 0.5, 0.5]
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ret = robot.LoadTrajectoryJ(name,ovl) #轨迹预加载
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print("轨迹预加载错误码",ret)
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ret,P1 = robot.GetTrajectoryStartPose(name) #获取轨迹起始位姿
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print ("获取轨迹起始位姿错误码",ret,"起始位姿",P1)
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ret = robot.MoveL(P1,1,0) #运动到起始点
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print("运动到起始点错误码",ret)
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ret = robot.GetTrajectoryPointNum() #获取轨迹点编号
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print("获取轨迹点编号错误码",ret)
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time.sleep(10)
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ret = robot.MoveTrajectoryJ() #轨迹复现
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print("轨迹复现错误码",ret)
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time.sleep(10)
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ret = robot.SetTrajectoryJSpeed(ovl) #设置轨迹运行中的速度
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print("设置轨迹运行中的速度错误码",ret)
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time.sleep(1)
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ret = robot.SetTrajectoryJForceTorque(ft) #设置轨迹运行中的力和扭矩
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print("设置轨迹运行中的力和扭矩错误码",ret)
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time.sleep(1)
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ret = robot.SetTrajectoryJForceFx(0) #设置轨迹运行中的沿x方向的力
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print("设置轨迹运行中的沿x方向的力错误码",ret)
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time.sleep(1)
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ret = robot.SetTrajectoryJForceFy(0) #设置轨迹运行中的沿y方向的力
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print("设置轨迹运行中的沿y方向的力错误码",ret)
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time.sleep(1)
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ret = robot.SetTrajectoryJForceFz(0) #设置轨迹运行中的沿z方向的力
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print("设置轨迹运行中的沿z方向的力错误码",ret)
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time.sleep(1)
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ret = robot.SetTrajectoryJTorqueTx(0) #设置轨迹运行中的绕x轴的扭矩
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print("设置轨迹运行中的绕x轴的扭矩错误码",ret)
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time.sleep(1)
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ret = robot.SetTrajectoryJTorqueTy(0) #设置轨迹运行中的绕y轴的扭矩
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print("设置轨迹运行中的绕y轴的扭矩错误码",ret)
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time.sleep(1)
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ret = robot.SetTrajectoryJTorqueTz(0) #设置轨迹运行中的绕z轴的扭矩
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print("设置轨迹运行中的绕z轴的扭矩错误码",ret)
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time.sleep(1) |