杩愯绋嬪簭
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閫氳璇存槑
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    宸ユ帶鏈哄拰 fanuc 鏈烘鑷傜殑閫氳鏂瑰紡涓� socket锛�
    
    宸ユ帶鏈轰富鎺э細宸ユ帶鏈轰綔涓� socket client(瀹㈡埛绔�)锛屾満姊拌噦浣滀负 socket server(鏈嶅姟绔�)銆�

    鏈烘鑷備富鎺э細宸ユ帶鏈轰綔涓� socket server(鏈嶅姟绔�)锛屾満姊拌噦浣滀负 socket client(瀹㈡埛绔�)銆�

鍚姩绋嬪簭
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杩愯宸ユ帶鏈轰富鎺�
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鎵撳紑宸ユ帶鏈轰笂鐨刋YZ Studio Max锛屽姞杞藉凡缁忛厤缃殑椤圭洰鎴栬€呴噸鏂伴厤缃ソ涓€涓」鐩悗锛屽湪铏氭嫙绀烘暀鍣ㄧ晫闈笂鍑昏繛鎺ユ満姊拌噦锛岀劧鍚庢寜浠ヤ笅姝ラ鎿嶄綔

  - 灏嗙ず鏁欏櫒妗ｄ綅鍒囧埌鑷姩
  - 灏嗘帶鍒舵煖妗ｄ綅鍒囧埌鑷姩
  - 鎸変笅Fancu绀烘暀鍣ㄤ笂鐨� ``FCTN`` -> ``1 涓绋嬪簭``锛屼腑姝箣鍓嶆湭鍏抽棴鐨勫悗鍙扮▼搴�
  - 閫夋嫨 tp 绋嬪簭涓殑 **XYZ**, 骞剁‘淇濇寚閽堝湪绋嬪簭鐨勭涓€琛�
  - 鎸変笅鎺у埗鏌滅殑涓婄數鎸夐挳锛岃繍琛岀▼搴�

    .. figure:: img/run.png
      :width: 500px
      :align: center

      杩愯绋嬪簭


杩愯鏈烘鑷備富鎺�
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鍦ㄥ伐鎺ф満鐨� robot_server 鍚姩鍚庯細

  - 灏嗙ず鏁欏櫒妗ｄ綅鍒囧埌鑷姩
  - 灏嗘帶鍒舵煖妗ｄ綅鍒囧埌鑷姩
  - 鏍规嵁椤圭洰闇€姹傞€夋嫨鍚堥€傜殑鍓嶅彴妯℃澘绋嬪簭

    绋嬪簭涓彁渚涗簡4涓ā鏉垮嚱鏁帮紝鍒嗗埆鏄� CARTMOVE_BASIC 锛� CARTMOVE_REPO 锛� TRAJMOVE_SYNC 锛� TRAJMOVE_ASYNC

  - 纭繚鎸囬拡鍦ㄧ▼搴忕涓€琛�
  - 鎸変笅鎺у埗鏌滅殑涓婄數鎸夐挳锛岃繍琛岀▼搴�

    .. figure:: img/run1.png
      :width: 340px
      :align: center