ur机械臂脚本实例-1

最新推荐文章于 2024-09-08 14:22:41 发布

chubin6262

最新推荐文章于 2024-09-08 14:22:41 发布

阅读量1.8k

点赞数

文章标签： c/c++

原文链接：https://my.oschina.net/itfanr/blog/3084659

版权

本文分享了关于ur机械臂使用C/C++进行编程的实践案例，详细介绍了如何通过代码控制机械臂的运动，包括基本操作和可能遇到的问题。

摘要由CSDN通过智能技术生成

def driverProg():
    MULT_jointstate = 1000000
    SERVO_IDLE = 0
    SERVO_RUNNING = 1
    cmd_servo_state = SERVO_IDLE
    cmd_servo_q = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    def set_servo_setpoint(q):
        enter_critical
        cmd_servo_state = SERVO_RUNNING
        cmd_servo_q = q
        exit_critical
    end
    thread servoThread():
        state = SERVO_IDLE
        while True:
            enter_critical
            q = cmd_servo_q
            do_brake = False
            if (state == SERVO_RUNNING) and (cmd_servo_state == SERVO_IDLE):
                do_brake = True
            end
            state = cmd_servo_state
            cmd_servo_state = SERVO_IDLE
            exit_critical
            if do_brake:
                stopj(1.0)
                sync()
            elif state == SERVO_RUNNING:
                servoj(q,