从robolink进口* # API与RoboDK from robodk import * # basic matrix operations RDK = Robolink() RDK.setCollisionActive(COLLISION_ON) RDK.setSimulationSpeed(1) robot = RDK.Item('', ITEM_TYPE_ROBOT) if not robot.Valid(): raise Exception("Robot not valid or not available") robot.MoveJ(robot.JointsHome()) theta = pi/2 x = 70.7 + 200 y_range = [70.7, -70.7] z = 0 phi_range = [pi/2 + pi/4, pi + pi/4] for i in range(0, 10): for i in range(0, 2): for y, phi in zip(y_range, phi_range): pose = transl(x,y,z)*rotx(pi - theta)*roty(phi - pi/2)*rotz(0) joints = robot.SolveIK(pose) robot.MoveJ(joints) robot.MoveJ(robot.JointsHome())