使用赋值方法画图形

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已于 2024-06-05 09:02:47 修改

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分类专栏：机器人 ABB机器人文章标签：机器人

于 2024-06-04 13:02:44 首次发布

本文链接：https://blog.csdn.net/flxjean/article/details/139439901

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   PERS robtarget xd_1:=[[18.46,112.94,-0.00],[9.2574E-9,-0.707107,-0.707107,1.39104E-8],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_1_h:=[[18.46,112.94,100],[9.2574E-9,-0.707107,-0.707107,1.39104E-8],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_1_1:=[[78.46,112.94,0],[9.2574E-9,-0.707107,-0.707107,1.39104E-8],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_1_2:=[[78.46,52.94,0],[9.2574E-9,-0.707107,-0.707107,1.39104E-8],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_1_3:=[[18.46,52.94,0],[9.2574E-9,-0.707107,-0.707107,1.39104E-8],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_2:=[[178.19,115.19,-0.00],[4.20756E-8,0.707107,0.707107,-5.37669E-9],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_2_h:=[[178.19,115.19,100],[4.20756E-8,0.707107,0.707107,-5.37669E-9],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_2_1:=[[143.19,55.19,0],[4.20756E-8,0.707107,0.707107,-5.37669E-9],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_2_2:=[[213.19,55.19,0],[4.20756E-8,0.707107,0.707107,-5.37669E-9],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_3:=[[297.64,91.28,0.39],[1.96071E-7,0.707107,0.707107,9.29046E-8],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_3_h:=[[267.64,91.28,100.39],[1.96071E-7,0.707107,0.707107,9.29046E-8],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_3_1:=[[267.64,91.28,0.39],[1.96071E-7,0.707107,0.707107,9.29046E-8],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_3_2:=[[297.64,121.28,0.39],[1.96071E-7,0.707107,0.707107,9.29046E-8],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_3_3:=[[327.64,91.28,0.39],[1.96071E-7,0.707107,0.707107,9.29046E-8],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS robtarget xd_3_4:=[[297.64,61.28,0.39],[1.96071E-7,0.707107,0.707107,9.29046E-8],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

 PROC xiemian()
        xd_1_h.trans.z := xd_1.trans.z+100;
        xd_2_h.trans.z := xd_2.trans.z+100;
        
        xd_1_1:=xd_1;
        xd_1_1.trans.x:=xd_1.trans.x+60;
        xd_1_2:=xd_1_1;
        xd_1_2.trans.y:=xd_1.trans.y-60;
        xd_1_3:=xd_1_2;
        xd_1_3.trans.x:=xd_1.trans.x;
        xd_2_1:=xd_2;
        xd_2_1.trans.x:=xd_2.trans.x-35;
        xd_2_1.trans.y:=xd_2.trans.y-60;
        xd_2_2:=xd_2_1;
        xd_2_2.trans.x:=xd_2_1.trans.x+70;
        xd_3_1.trans.x:=xd_3.trans.x-30;
        xd_3_h:= xd_3_1;
        xd_3_h.trans.z :=xd_3_1.trans.z+100;
        xd_3_2.trans.y:=xd_3.trans.y+30;
        xd_3_3.trans.x:=xd_3.trans.x+30;
        xd_3_4.trans.y:=xd_3.trans.y-30;
        MoveJ P_HOME,v100,z15,My_Tool;
        MoveJ xd_1_h,v100,z15,My_Tool\WObj:=wobjxiemian;
        MoveL xd_1,v400,fine,My_Tool\WObj:=wobjxiemian;
        MoveL xd_1_1,v400,fine,My_Tool\WObj:=wobjxiemian;
        MoveL xd_1_2,v400,fine,My_Tool\WObj:=wobjxiemian;
        MoveL xd_1_3,v400,fine,My_Tool\WObj:=wobjxiemian;
        MoveL xd_1,v400,fine,My_Tool\WObj:=wobjxiemian;
         MoveL xd_1_h,v100,z15,My_Tool\WObj:=wobjxiemian;
        MoveJ xd_2_h,v400,z15,My_Tool\WObj:=wobjxiemian;
        MoveL xd_2,v400,fine,My_Tool\WObj:=wobjxiemian;
        MoveL xd_2_1,v400,fine,My_Tool\WObj:=wobjxiemian;
        MoveL xd_2_2,v400,fine,My_Tool\WObj:=wobjxiemian;
        MoveL xd_2,v400,fine,My_Tool\WObj:=wobjxiemian;
        MoveJ xd_2_h,v400,z15,My_Tool\WObj:=wobjxiemian;
        MoveJ xd_3_h,v400,z15,My_Tool\WObj:=wobjxiemian;
        MoveL xd_3_1,v400,fine,My_Tool\WObj:=wobjxiemian;
        MoveC xd_3_2,xd_3_3,v400,fine,My_Tool\WObj:=wobjxiemian;
        MoveC xd_3_4,xd_3_1,v400,fine,My_Tool\WObj:=wobjxiemian;
         MoveJ xd_3_h,v400,z15,My_Tool\WObj:=wobjxiemian;
        MoveL P_HOME,v400,fine,My_Tool;
    ENDPROC