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+--- Thread: Get Joint Speeds for a Robot Path using Python API (/Thread-Get-Joint-Speeds-for-a-Robot-Path-using-Python-API)
得到一个机器人关节速度路径使用Python API-p.f-07-10-2018
I'm trying to use the Python API to get the joint speeds of a robot based on a constant tool speed for a tool path created by a series of MoveL commands. It looks like InstructionListJoints may be able to provide this information however I couldn't figure out how to use it.
An example of InstructionListJoints would be helpful, or a suggestion for a better method, thanks.
RE: Get Joint Speeds for a Robot Path using Python API-Filipe Ribeiro-07-13-2018
Maybe the best option is to obtain the position [x,y,z] each second, and do physical concept of velocity with the combination of the 3 components of velocity you will calculate. I was searching on python API and I didn't figure out nothing that clearly gives you the joint's velocities. Maybe there is a better way to do it.
RE: Get Joint Speeds for a Robot Path using Python API-Albert-08-14-2018
With the latest version of RoboDK you can extract timings for your joint list. Make sure to provide flags=2 or flags=3
# Split your program by steps of 1 mm and 1 deg
message, data, success = program.InstructionListJoints(mm_step=1, deg_step=1, flags=2)
data is a Matrix with columns containing the following information:
[J1, J2, ..., Jn, ERROR, MM_STEP, DEG_STEP, MOVE_ID, TIME, X_TCP, Y_TCP, Z_TCP, Speed_J1, Speed_J2, ..., Speed_Jn]
You can then map the times with the joint positions.
More information here:
//www.sinclairbody.com/doc/en/PythonAPI/robolink.html#robolink.Item.InstructionListJoints
//www.sinclairbody.com/doc/en/CsAPI/api/RoboDk.API.Model.ListJointsType.html
The C# documentation is more complete regarding the effect of changing the flags.