从robodk。robolink从robodk.robomath进口*import * RDK = Robolink() J1 = 0 J2 = 0 J3 =0 J4 = 0 J5 = 0 J6 = 0 e1 = 0 robot = RDK.Item('', ITEM_TYPE_ROBOT) # Get first robot in cell robot.setJoints([J1,J2,J3,J4,J5,J6,e1]) # Set all joints and rail to 0 reference = RDK.Item('TableFrame', ITEM_TYPE_FRAME) # Get the reference frame for the table print(reference) if not reference.Valid(): raise Exception("No reference frame found!") # referencePose = reference.Pose() # Get the pose of the reference frame # print(referencePose) toolFrame = RDK.Item('TapeHead', ITEM_TYPE_TOOL) # get the tool frame for the tape head if not toolFrame.Valid(): raise Exception('No tool frame found!') target1 = RDK.Item('Target 1') print(target1.Joints()) target1.setAsCartesianTarget() target1.Joints() print(target1.Joints()) robot.setPoseFrame(reference) robot.setPoseTool(toolFrame) robot.MoveJ(target1) print("Current robot joint values: \n"+ str(robot.Joints().list())) print("Joint Values for Target 1: \n"+ str(target1.Joints().list()))