28 lines
839 B
Python
28 lines
839 B
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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#负载辨识滤波初始化
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error = robot.LoadIdentifyDynFilterInit()
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print("LoadIdentifyDynFilterInit:",error)
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#负载辨识变量初始化
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error = robot.LoadIdentifyDynVarInit()
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print("LoadIdentifyDynVarInit:",error)
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joint_torque= [0,0,0,0,0,0]
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joint_pos= [0,0,0,0,0,0]
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gain=[0,0.05,0,0,0,0,0,0.02,0,0,0,0]
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t =10
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error,joint_pos=robot.GetActualJointPosDegree(1)
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joint_pos[1] = joint_pos[1]+10
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error,joint_torque=robot.GetJointTorques(1)
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joint_torque[1] = joint_torque[1]+2
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#负载辨识主程序
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error = robot.LoadIdentifyMain(joint_torque, joint_pos, t)
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print("LoadIdentifyMain:",error)
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#获取负载辨识结果
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error = robot.LoadIdentifyGetResult(gain)
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print("LoadIdentifyGetResult:",error)
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