#这个脚本计算TCP在m的速度m/s # Tip: Use the script JointsPlayback.py to move along the recorded joints # force monitoring the real robot FORCE_REAL_ROBOT = False from robolink import * # API to communicate with RoboDK from robodk import * # basic matrix operations from time import gmtime, strftime import time # Connect to RoboDK RDK = Robolink() # Ask the user to select a robot arm (mechanisms are ignored) robot = RDK.ItemUserPick('Select a robot',ITEM_TYPE_ROBOT_ARM) if not robot.Valid(): raise Exception("Robot is not available") if FORCE_REAL_ROBOT: if robot.Connect() == 0: raise Exception("Error connecting to robot") # Generate a file in the same folder where we have the RDK file #file_path = RDK.getParam('PATH_OPENSTATION') + '/joints-' + strftime("%Y-%m-%d %H-%M-%S", gmtime()) + '.csv' def joints_changed(j1, j2, tolerance=0.0001): """Returns True if joints 1 and joints 2 are different""" if j1 is None or j2 is None: return True for j1,j2 in zip(j1,j2): if abs(j1-j2) > tolerance: return True return False joints_last = None t_last = None tcp_xyz_last = None print("Move the robot to calculate the TCP speed") # Infinite loop to calculate speed while True: # If we are connected to the real robot, this retrieves the position of the real robot # (blocks until it receives an update from the real robot) joints = robot.Joints().list() if joints_changed(joints, joints_last): # Get the TCP with respect to the coordinate system # (the robot position was just updated from the real robot using Joints()) tcp_xyz = robot.Pose().Pos() x,y,z = tcp_xyz print("TCP position [X,Y,Z] (mm): [%.3f,%.3f,%.3f]" % (x,y,z)) t = time.time() if t_last is not None: # Skip the first update # Calculate delta time (s) and delta travel (mm) d_time = t - t_last # d_time = d_time * RDK.SimulationSpeed() # adjust for real time when simulating d_move = norm(subs3(tcp_xyz, tcp_xyz_last)) if d_time > 0: speed = d_move / d_time print("TCP speed (mm/s): %.1f" % speed) joints_last = joints tcp_xyz_last = tcp_xyz t_last = t #pause(0.01)