杩愬姩
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鍦� :guilabel:`杩愬姩` 鐣岄潰锛岃缃満姊拌噦鐨勬姄鍙栧鐞嗘祦绋嬨€�

.. hint::  鍦ㄥ紑濮嬭缃繍鍔ㄧ浉鍏冲唴瀹瑰墠锛岃鍏堟牴鎹満姊拌噦鍜岀浉鏈哄搧鐗岃繛鎺ュ苟閰嶇疆鐪熷疄鐜涓殑鏈烘鑷傚拰鐩告満銆傜浉鍏冲唴瀹硅鍙傝€� :doc:`../../../basic_operation/robot` 鍜�  :doc:`../../../appendix/camera_connection/camera_IP`銆傚湪浠跨湡鐜涓繍琛屾棤闇€閰嶇疆鏈烘鑷傚拰鐩告満銆�



鏈ず渚嬮」鐩凡閰嶇疆濂戒豢鐪熺幆澧冨拰鎶撳彇澶勭悊娴佺▼锛屽彲鏍规嵁瀹為檯鍦烘櫙杩涜淇敼銆�

1. 娣诲姞鏈烘鑷傘€傛湰椤圭洰浣跨敤鐨勬満姊拌噦涓篕UKA-KR-50-R2500銆傚闇€娣诲姞鍏朵粬鍨嬪彿鐨勬満姊拌噦锛屽湪 :guilabel:`杩愬姩` 椤电涓嬪揩鎹峰伐鍏锋爮锛屽崟鍑� :guilabel:`鏈烘鑷俙锛岃鍙傝 :doc:`../../../basic_operation/motion_operation/add_robot`銆�

   .. image:: img/world.png
      :align: center
      :width: 500px


2. 娣诲姞瀹瑰櫒銆傛湰椤圭洰宸插寘鍚袱涓墭鐩橈紝鍙牴鎹」鐩疄闄咃紝淇敼鎵樼洏鍙婂伐浣滅┖闂寸殑灏哄銆佷綅濮跨瓑鍙傛暟锛岃鍙傝 :ref:`basic_operation/motion_operation/add_ws:娣诲姞鎵樼洏`銆�


3. 娉ㄥ唽宸ュ叿銆佸伐浠讹紝鍐嶆敞鍐屾姄鍙栨敞鍐岄泦銆傛湰椤圭洰浣跨敤鐜板疄绀烘暀鏂瑰紡锛屽伐鍏峰拰宸ヤ欢纰版挒妯″瀷涓嶄娇鐢⊿TL妯″瀷锛岀敤闀挎柟浣撲唬鏇匡紝杞欢浠庤瑙夋娴嬬粨鏋滀腑鑾峰彇宸ヤ欢銆傚浣跨敤铏氭嫙妯″瀷娉ㄥ唽鎶撳彇锛屽垯闇€瀵煎叆STL妯″瀷鏂囦欢銆傝鍙傝 鈥�2D鍧愭爣绉诲姩鈥濆満鏅腑鐨� :doc:`../2d/motion`銆�

   - 鍙屽嚮宸︿晶璧勬簮鏍� **鏈宸ュ叿** 涓嬫柟 **宸ュ叿**锛屽彲鏌ョ湅骞朵慨鏀瑰伐鍏锋ā鍨嬬殑浣嶅Э銆佸昂瀵搞€佸伐鍏峰弬鑰冪偣浣嶅Э銆傚闇€娉ㄥ唽鏂板伐鍏凤紝鍦� :guilabel:`杩愬姩` 椤电涓嬪揩鎹峰伐鍏锋爮锛屽崟鍑� :guilabel:`鏈宸ュ叿`锛岄€夋嫨 **娉ㄥ唽宸ュ叿**锛屽叿浣撳弬瑙� :ref:`basic_operation/motion_operation/add_tool:娉ㄥ唽宸ュ叿`銆�

     .. image:: img/tool2.png
        :align: center
        :width: 500px

   - 鍙屽嚮宸︿晶璧勬簮鏍� **宸ヤ欢** 涓嬫柟 **bag**锛屽彲鏌ョ湅骞朵慨鏀瑰伐浠舵ā鍨嬬殑浣嶅Э銆佸昂瀵搞€傚闇€娉ㄥ唽鏂板伐浠讹紝鍦� :guilabel:`杩愬姩` 椤电涓嬪揩鎹峰伐鍏锋爮锛屽崟鍑� :guilabel:`宸ヤ欢`锛岄€夋嫨 **娉ㄥ唽宸ヤ欢**锛屽叿浣撳弬瑙� :doc:`../../../basic_operation/motion_operation/reg_object`銆�
   - 鍦ㄥ乏渚ц祫婧愭爲 **鎶撳彇鍜屾斁缃� > 鎶撳彇娉ㄥ唽** 涓嬫柟鍙屽嚮 **鎶撳彇娉ㄥ唽闆�**锛屽彲鏌ョ湅骞朵慨鏀瑰凡娉ㄥ唽鐨勬姄鍙栨柟寮忋€傚闇€娉ㄥ唽鏂扮殑鎶撳彇鏂瑰紡锛屽彲鍙傝 :doc:`../../../basic_operation/motion_operation/grasp_reg`锛屾寜浠ヤ笅姝ラ鎿嶄綔锛�
   
    a. 灏� **宸ヤ欢鏉ユ簮** 璁剧疆涓� **瑙嗚渚︽祴**锛岄€夋嫨瑙嗚鏈嶅姟銆佺浉鏈轰娇鐢ㄥ満鏅紝鐒跺悗鍗曞嚮 :guilabel:`妫€娴嬪伐浠禶锛岄€夋嫨妫€娴嬪埌鐨勫伐浠朵綅濮匡紝鍗曞嚮 :guilabel:`鍒涘缓娉ㄥ唽鎶撳彇`銆�
    b. 灏嗘敞鍐屾柟寮忚缃负 **鐜板疄绀烘暀**锛岀Щ鍔ㄧ湡瀹炴満姊拌噦鑷虫姄鍙栦綅濮匡紝杈撳叆鏈烘鑷備綅濮匡紝
    c. 鍗曞嚮鐣岄潰鍙充笅瑙� :guilabel:`瀹屾垚`銆�

      .. image:: img/pick_reg.png
         :align: center
         :width: 500px

4. 娉ㄥ唽鎶撳彇澶勭悊娴佺▼銆傚湪宸︿晶璧勬簮鏍� **鎶撳彇鍜屾斁缃� > 鎶撳彇澶勭悊娴佺▼** 涓嬫柟 **鎶撳彇澶勭悊娴佺▼**锛屽彲鏌ョ湅骞朵慨鏀瑰凡娉ㄥ唽鐨勬姄鍙栧鐞嗘祦绋嬨€傝鍙傝 :ref:`basic_operation/motion_operation/add_pipeline:娉ㄥ唽鎶撳彇澶勭悊娴佺▼`銆�

    .. image:: img/pipeline3.png
       :align: center
       :width: 450px