graduation-design/abandon_code/examples/TrajectoryJ_repetition.py
2024-04-25 20:10:52 +08:00

45 lines
2.0 KiB
Python
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

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