下载地址:https://github.com/xArm-Developer/xArm-Python-SDK
指令参考:xArm-Python-SDK/doc/api/xarm_api.md at master · xArm-Developer/xArm-Python-SDK · GitHub
1. import
from xarm.wrapper import XArmAPI
2. 初始设置
arm = XArmAPI('192.168.11.11') # robot IP
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
3. 获取当前位姿
tcp_pose = arm.get_position() # tuple variable x y z roll pitch yaw(degree)
4. 发送控制指令
arm.set_position(x=?, y=?, z=?, roll=?, pitch=?, yaw=?,
speed=?speed, mvacc=?acceleration, wait=True)
先写这么多,之后随用随更