External Rail programmation with the Python API - Printable Version

Code:

"""
Control the robot via the RoboDK Python API

Parameters
----------
htm = (n,4,4)
Homogeneous Transformation Matrices from the base to the tool holder of every positions
speed : (n-1) float
speed between each position
"""

RDK = Robolink()
copyfile("..\Ressources\RDKFiles\CTTLab.rdk", "..\Ressources\RDKFiles\Test.rdk")
RDK.AddFile("..\Ressources\RDKFiles\Test.rdk")
robot = RDK.Item('KUKA KR 100-2 P', ITEM_TYPE_ROBOT)
如果不是机器人。Valid():
raise Exception('No robot selected or available')

reference = robot.Parent().Parent()

# Create a new program
program = RDK.AddProgram("Test", robot)

# Turn off automatic rendering
RDK.Render(False)

# Specify the reference frame you want to use
program.setPoseFrame(reference)

# Define a reference pose
targetname = 'Target Home'
target_home = RDK.AddTarget(targetname, reference, robot)
target_home.setJoints(robot.SolveFK(robot.JointsHome()))
program.MoveJ(target_home)

targetname = 'Target 0'
target = RDK.AddTarget(targetname, reference, robot)
target.setAsCartesianTarget()
target.setPose(htm[0])
program.MoveJ(target)

for i in range(htm.shape[0] - 1):
targetname = 'Target %i' % (i + 1)
target = RDK.AddTarget(targetname, reference, robot)
target.setPose(htm[i+1])
program.setSpeed(speed[i])
program.MoveJ(target)

program.RunProgram()

Code:

target_name = 'Target %i' % (i + 1)
机器人。MoveJ(robot.SolveIK(KUKA_2_Pose(Pose_2_KUKA(htm[i+1])), tool=RDK.Item('Tool 1', ITEM_TYPE_TOOL).PoseTool()))
target = RDK.AddTarget(target_name, reference, robot)
program.setSpeed(speed[i])
program.MoveL(target)
RDK.Update()

Code:

RDK = Robolink()

robot = RDK.Item('KUKA KR 100 HA', ITEM_TYPE_ROBOT)
如果不是机器人。Valid():
raise Exception('No robot selected or available')

world_base = RDK.Item('World Base', ITEM_TYPE_FRAME)
camera_base = RDK.Item('Camera base', ITEM_TYPE_FRAME)
tool = RDK.Item('Tool 1', ITEM_TYPE_TOOL)

RDK.Render(False)


# Specify the reference frame you want to use
program = RDK.AddProgram("{} Picture Analysis".format(name_prog), robot)
program.setPoseFrame(camera_base)
program.setPoseTool(tool)

program.setSpeed(speed, 200, 10000, 800)

target_name = 'Approach target'
pose = Mat(htm[0].tolist())
target = RDK.AddTarget(target_name, camera_base, tool)
target.setAsCartesianTarget()
target.setPose(pose)
program.MoveJ(target)



for i in range(htm.shape[0] - 1):
target_name = 'Target {}'.format(i)
构成=垫(htm (i + 1) .tolist ())
target = RDK.AddTarget(target_name, camera_base, tool)
target.setAsCartesianTarget()
target.setPose(pose)
program.MoveL(target)

Code:

from robolink import * # RoboDK API
from robodk import * # Robot toolbox
RDK = Robolink()

targets = RDK.ItemList(ITEM_TYPE_TARGET)

RDK.Render(False)
for t in targets:
# Set the value of the external axis
e1 = 5000 # in mm
t.setJoints([0,0,0,0,0,0, e1])

# Recalculate the joint position based on the new position of the external axis
# Robot joints are updated but not external axis
t.setAsCartesianTarget ()
t.Joints()

jnts = t.Joints()
print(t.Name() + "-Joints: " + str(jnts.list()))

Code:

from robolink import * # RoboDK API
from robodk import * # Robot toolbox
RDK = Robolink()

# Retrieve all targets
targets = RDK.ItemList(ITEM_TYPE_TARGET)

# Select a program (automatic selection if you only have one program)
program = RDK.ItemUserPick('Select a program to check and update targets', ITEM_TYPE_PROGRAM)

# Turn off rendering (faster)
RDK.Render(False)

# List some candidates for the external axis (E1, in mm):
Test_E1 = [500, 1000, 1500, 2000, 2500, 3000, 3500, 4000, 4500]
#test_E1 = range(500, 5000, 500)

for e1 in Test_E1:
print("Testing program feasibility for E1:" + str(e1))

# Update all targets to desired e1
for t in targets:
# Set the value of the external axis
# e1 = 5000 # in mm
t.setJoints([0,0,0,0,0,0, e1])

# Recalculate the joint position based on the new position of the external axis
# Robot joints are updated but not external axis
t.setAsCartesianTarget ()
t.Joints()

jnts = t.Joints()
print(t.Name() + "-Joints: " + str(jnts.list()))

# Test the program and make sure it is 100% feasible
valid_ins, prog_time, prog_len, valid_ratio, error_msg = program.Update()
if valid_ratio < 1.0:
print(" Unable to complete the program")
print(" " + error_msg)

else:
print(" Program feasible!")
# stop looking
break

print("Done!")
program.RunProgram()