python工业机器人 包_Python robodk包_程序模块 - PyPI - Python中文网

示例

以下脚本显示了一个使用robodk包进行机器人仿真和脱机编程的示例：from robolink import * # RoboDK's API

from robodk import * # Math toolbox for robots

# Start the RoboDK API:

RDK = Robolink()

# Get the robot item by name:

robot = RDK.Item('Fanuc LR Mate 200iD', ITEM_TYPE_ROBOT)

# Get the reference target by name:

target = RDK.Item('Target 1')

target_pose = target.Pose()

xyz_ref = target_pose.Pos()

# Move the robot to the reference point:

robot.MoveJ(target)

# Draw a hexagon around the reference target:

for i in range(7):

ang = i*2*pi/6 #ang = 0, 60, 120, ..., 360

# Calculate the new position around the reference:

x = xyz_ref[0] + R*cos(ang) # new X coordinate

y = xyz_ref[1] + R*sin(ang) # new Y coordinate

z = xyz_ref[2] # new Z coordinate