from sdk.ur import UR # 创建机器人驱动 ur = UR() # 连接机器人 ur.connect() # 显示点 ur.show_point((0.3, 0.4, 0))
# 创建驱动 ur = UR() # 连接机械臂 ur.connect() # 放松姿态 ur.move_j([-84.56, -87.06, -89.02, -96.33, 90.87, 89.87]) # 定义四个点 pos = [0.3, 0, 0, 180, 0, 90] ur.clear_points() ur.disable_trail() ur.show_point((0, 0, 0), 0.1, [0, 255, 0, 0]) # 原点 ur.show_point((0.3, 0, 0)) # 移动到第一个点 # ur.move_p(pos) # 开启线路显示 ur.enable_trail() pos_1 = [0, 0, 0, 0, 0, 0] pos_2 = [0, 0, 0, 0, 0, 0] pos_3 = [0, 0, 0, 0, 0, 0] pos_4 = [0, 0, 0, 0, 0, 0] alpha = 0.5 delta = 0.01
ur.connect()
# 放松姿态
ur.move_j([-84.56,-87.06,-89.02,-96.33,90.87,89.87])
# 清除点
ur.clear_points()
# 定义四个点
pos1 = [0.3,0,0,180,0,90]
pos2 = [0.3,0.3,0,180,0,90]
pos3 = [0.6,0.3,0,180,0,90]
pos4 = [0.6,0,0,180,0,90]
# 显示点
ur.show_point((0.6,0.3,0))
ur.show_point((0.3,0.3,0))
ur.show_point((0.3,0,0))
ur.show_point((0.6,0,0))
# 绘制
while True:
ur.move_l(pos1)
# 显示路线
ur.enable_trail()
# ur.move_p(pos2)
# ur.move_p(pos3)
# ur.move_p(pos4)
# ur.move_p(pos1)