28 lines
1.4 KiB
Python
28 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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#恒力控制
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status = 1 #恒力控制开启标志,0-关,1-开
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sensor_num = 1 #力传感器编号
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is_select = [0,0,1,0,0,0] #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,-10.0,0.0,0.0,0.0]
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gain = [0.0005,0.0,0.0,0.0,0.0,0.0] #力PID参数,力矩PID参数
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adj_sign = 0 #自适应启停状态,0-关闭,1-开启
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ILC_sign = 0 #ILC控制启停状态,0-停止,1-训练,2-实操
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max_dis = 100.0 #最大调整距离
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max_ang = 0.0 #最大调整角度
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J1=[70.395, -46.976, 90.712, -133.442, -87.076, -27.138]
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P2=[-123.978, -674.129, 44.308, -178.921, 2.734, -172.449]
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P3=[123.978, -674.129, 42.308, -178.921, 2.734, -172.449]
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error = robot.MoveJ(J1,1,0)
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print("关节空间运动指令错误码",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指令错误码",error)
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error = robot.FT_Control(status,sensor_num,is_select,force_torque,gain,adj_sign,ILC_sign,max_dis,max_ang)
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print("恒力控制开启错误码",error)
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error = robot.MoveL(P3,1,0) #笛卡尔空间直线运动
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print("笛卡尔空间直线运动指令错误码",error)
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status = 0
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error = robot.FT_Control(status,sensor_num,is_select,force_torque,gain,adj_sign,ILC_sign,max_dis,max_ang)
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print("恒力控制结束错误码",error) |