案例/模板说明 ============================ 机械臂主控主函数说明 ++++++++++++++++++++++++++++++++ 轨迹移动同步模板 -------------------------------- .. code-block:: import os import sys JAKA_PYTHONPATH = os.path.join(os.path.dirname(__file__)) # 添加当前路径到环境变量 sys.path.append(JAKA_PYTHONPATH) import socket import const import jkrc import xyz_master_object jk = xyz_master_object.jk_master("192.168.37.100") # 创建机械臂对象，传入机械臂 ip 地址 server_address = ("127.0.0.1", 11111) # 指定 robot server 的 ip 和端口 jk.socketConnect(server_address) try: err_code = jk.xyzSwitchFlow("traj_sync.t") # 切换任务 if err_code != 0: os.system("pause") # 错误代码不为零，暂停程序 ws_id = 0 err_code = jk.xyzSwitchItem(ws_id,"item1") # 切换工件 if err_code != 0: os.system("pause") IO_CABINET = 0 IO_TOOL = 1 # IO_EXTEND = 2 jk.robot.set_digital_output(IO_CABINET, 0, 0) # 设置数字输出 home_joints = [0,0,0,0,-90,0] move_mode = 0 is_block = True speed = 0.1 # unit: rad/s jk.robot.joint_move(home_joints, move_mode, is_block, speed) # 移动到初始位置 while True: ws_id = 0 err_code = jk.xyzReqPickPlace(ws_id) # 请求计算抓取放置轨迹 if err_code != 0: os.system("pause") err_code, pipeline_num, register_num, traj_num, wp_type, wp = jk.xyzGetPickin(0) # 获取抓取入筐轨迹 if err_code != 0: os.system("pause") if traj_num < 1: # 如果没有轨迹，退出循环 break jk.xyzExecutePickinTraj(traj_num, wp_type, wp) # 执行抓取入筐轨迹 jk.robot.set_digital_output(IO_CABINET, 0, 1) # 抓取 err_code, pipeline_num, register_num, traj_num, wp_type, wp = jk.xyzGetPickout(0) # 获取抓取出筐轨迹 if err_code != 0: os.system("pause") jk.xyzExecutePickoutTraj(traj_num, wp_type, wp) # 执行抓取出筐轨迹 err_code, pipeline_num, register_num, traj_num, wp_type, wp = jk.xyzGetPlacein(0) # 获取放置入筐轨迹 if err_code != 0: os.system("pause") jk.xyzExecuteTraj(traj_num, wp_type, wp) # 执行放置入筐轨迹 jk.robot.set_digital_output(IO_CABINET, 0, 0) # 放置 err_code, pipeline_num, register_num, traj_num, wp_type, wp = jk.xyzGetPlaceout(0) # 获取放置出筐轨迹 if err_code != 0: os.system("pause") jk.xyzExecuteTraj(traj_num, wp_type, wp) # 执行放置出筐轨迹 finally: jk.robot.logout() print("robot disconnected") 轨迹移动异步模板 --------------------------------- .. code-block:: import os import sys JAKA_PYTHONPATH = os.path.join(os.path.dirname(__file__)) # 添加当前路径到环境变量 sys.path.append(JAKA_PYTHONPATH) import socket import const import jkrc import xyz_master_object jk = xyz_master_object.jk_master("192.168.37.100") # 创建机械臂对象，传入机械臂 ip 地址 server_address = ("127.0.0.1", 11111) # 指定 robot server 的 ip 和端口 jk.socketConnect(server_address) try: err_code = jk.xyzSwitchFlow("traj_async.t") # 切换任务 if err_code != 0: os.system("pause") ws_id = 0 err_code = jk.xyzSwitchItem(ws_id,"item1") # 切换工件 if err_code != 0: os.system("pause") IO_CABINET = 0 IO_TOOL = 1 # IO_EXTEND = 2 jk.robot.set_digital_output(IO_CABINET, 0, 0) # 设置数字输出 home_joints = [0,0,0,0,-90,0] move_mode = 0 is_block = True speed = 0.1 # unit: rad/s jk.robot.joint_move(home_joints, move_mode, is_block, speed) # 移动到初始位置 while True: ws_id = 0 err_code = jk.xyzReqPickPlace(ws_id) # 请求计算抓取放置轨迹 if err_code != 0: os.system("pause") ws_id = 0 err_code, pipeline_num, register_num, traj_num, wp_type, wp = jk.xyzGetPickin(ws_id) # 获取抓取入筐轨迹 if err_code != 0: os.system("pause") if traj_num < 1: # 如果没有轨迹，退出循环 break jk.xyzExecutePickinTraj(traj_num, wp_type, wp) # 执行抓取入筐轨迹 jk.robot.set_digital_output(IO_CABINET, 0, 1) # 抓取 ws_id = 0 err_code, pipeline_num, register_num, traj_num, wp_type, wp = jk.xyzGetPickout(ws_id) # 获取抓取出筐轨迹 if err_code != 0: os.system("pause") jk.xyzExecutePickoutTraj(traj_num, wp_type, wp) # 执行抓取出筐轨迹 ws_id = 0 err_code = jk.xyzReqPickPlace(ws_id) # 提前请求下一次抓取放置轨迹 if err_code != 0: os.system("pause") ws_id = 0 err_code, pipeline_num, register_num, traj_num, wp_type, wp = jk.xyzGetPlacein(ws_id) # 获取放置入筐轨迹 if err_code != 0: os.system("pause") jk.xyzExecuteTraj(traj_num, wp_type, wp) # 执行放置入筐轨迹 jk.robot.set_digital_output(IO_CABINET, 0, 0) # 放置 ws_id = 0 err_code, pipeline_num, register_num, traj_num, wp_type, wp = jk.xyzGetPlaceout(ws_id) # 获取放置出筐轨迹 if err_code != 0: os.system("pause") jk.xyzExecuteTraj(traj_num, wp_type, wp) # 执行放置出筐轨迹 finally: jk.robot.logout() print("robot disconnected") 座标移动基础模板 -------------------------------- .. code-block:: import os import sys JAKA_PYTHONPATH = os.path.join(os.path.dirname(__file__)) # 添加当前路径到环境变量 sys.path.append(JAKA_PYTHONPATH) import socket import const import jkrc import xyz_master_object jk = xyz_master_object.jk_master("192.168.37.100") # 创建机械臂对象，传入机械臂 ip 地址 server_address = ("127.0.0.1", 11111) # 指定 robot server 的 ip 和端口 jk.socketConnect(server_address) try: err_code = jk.xyzSwitchFlow("catr_basic.t") # 切换任务 if err_code != 0: os.system("pause") ws_id = 0 err_code = jk.xyzSwitchItem(ws_id,"item1") # 切换工件 if err_code != 0: os.system("pause") IO_CABINET = 0 IO_TOOL = 1 # IO_EXTEND = 2 jk.robot.set_digital_output(IO_CABINET, 0, 0) # 设置数字输出 home_joints = [0,0,0,0,-90,0] move_mode = 0 is_block = True speed = 0.1 # unit: rad/s jk.robot.joint_move(home_joints, move_mode, is_block, speed) # 移动到初始位置 is_eye_in_hand = True while True: if is_eye_in_hand: scan_pose = [400,0,400,0,0,0] speed = 10 # unit: mm/s jk.robot.linear_move(scan_pose, move_mode, is_block, speed) # 移动到拍照位姿 err_code = jk.xyzSendCurrentPose() # 发送当前位姿 if err_code != 0: os.system("pause") err_code, grasp_token = jk.xyzReqGraspPose(ws_id) # 请求计算抓取位姿 if err_code != 0: os.system("pause") err_code, grasp_pose, grasp_pose_num, pipeline_num, register_num = jk.xyzGetGraspPose(grasp_token) # 获取抓取位姿 if err_code != 0: os.system("pause") if grasp_pose_num < 1: # 如果没有位姿，继续请求 print("No grasp pose, continure requesting...") continue speed = 10 # unit: mm/s jk.robot.linear_move(grasp_pose, move_mode, is_block, speed) # 移动到抓取位姿 jk.robot.set_digital_output(IO_CABINET, 0, 1) # 抓取 place_pose = [400,0,400,0,0,0] speed = 10 # unit: mm/s jk.robot.linear_move(place_pose, move_mode, is_block, speed) # 移动到放置位姿 jk.robot.set_digital_output(IO_CABINET, 0, 0) # 放置 finally: jk.robot.logout() print("robot disconnected") 座标移动二次定位模板 ------------------------------------- .. code-block:: import os import sys JAKA_PYTHONPATH = os.path.join(os.path.dirname(__file__)) # 添加当前路径到环境变量 sys.path.append(JAKA_PYTHONPATH) import socket import const import jkrc import xyz_master_object jk = xyz_master_object.jk_master("192.168.37.100") # 创建机械臂对象，传入机械臂 ip 地址 server_address = ("127.0.0.1", 11111) # 指定 robot server 的 ip 和端口 jk.socketConnect(server_address) try: err_code = jk.xyzSwitchFlow("cart_repo.t") # 切换任务 if err_code != 0: os.system("pause") IO_CABINET = 0 IO_TOOL = 1 # IO_EXTEND = 2 jk.robot.set_digital_output(IO_CABINET, 0, 0) # 设置数字输出0状态 jk.robot.set_digital_output(IO_CABINET, 1, 0) # 设置数字输出1状态 home_joints = [0,0,0,0,-90,0] move_mode = 0 is_block = True speed = 0.1 # unit: rad/s jk.robot.joint_move(home_joints, move_mode, is_block, speed) # 移动到初始位置 ws_id = 0 err_code = jk.xyzSwitchItem(ws_id,"item1") # 切换工件 if err_code != 0: os.system("pause") err_code, rough_grasp_token = jk.xyzReqGraspPose(ws_id) # 请求计算抓取位姿 if err_code != 0: os.system("pause") while True: # camera 1 get rough grasp pose 相机1获取粗抓取位姿 err_code, rough_grasp_pose, rough_grasp_pose_num, rough_pipeline_num, rough_register_num = jk.xyzGetGraspPose(rough_grasp_token) if err_code != 0: os.system("pause") # no item, grasp board 没有工件，抓取隔板 if rough_grasp_pose_num < 1: ws_id = 0 err_code = jk.xyzSwitchItem(ws_id,"board") # 切换工件 if err_code != 0: os.system("pause") err_code, board_grasp_token = jk.xyzReqGraspPose(ws_id) # 请求计算抓取位姿 if err_code != 0: os.system("pause") # 获取隔板抓取位姿 err_code, board_grasp_pose, board_grasp_pose_num, board_pipeline_num, board_register_num = jk.xyzGetGraspPose(board_grasp_token) if err_code != 0: os.system("pause") if board_grasp_pose_num < 1: # no board, you can change tote # 没有隔板，可以切换料箱 break speed = 10 # unit: mm/s jk.robot.linear_move(board_grasp_pose, move_mode, is_block, speed) # 移动到隔板抓取位姿 jk.robot.set_digital_output(IO_CABINET, 0, 1) # 抓取 # place board 放置隔板 board_place_pose = [400,0,400,0,0,0] speed = 10 # unit: mm/s jk.robot.linear_move(board_place_pose, move_mode, is_block, speed) # 移动到隔板放置位姿 jk.robot.set_digital_output(IO_CABINET, 0, 0) # 放置 ws_id = 0 err_code = jk.xyzSwitchItem(ws_id,"item1") # 切换工件 if err_code != 0: os.system("pause") err_code, rough_grasp_token = jk.xyzReqGraspPose(ws_id) # 请求粗抓取位姿 if err_code != 0: os.system("pause") continue # move to rough grasp pose 移动到粗抓取位姿 speed = 10 # unit: mm/s jk.robot.linear_move(rough_grasp_pose, move_mode, is_block, speed) err_code = jk.xyzSendCurrentPose() # 发送当前位姿 # camera2 get grasp pose 相机2获取精确抓取位姿 ws_id = 1 err_code = jk.xyzSwitchItem(ws_id,"item1") if err_code != 0: os.system("pause") err_code, fine_grasp_token = jk.xyzReqGraspPose(ws_id) # 请求精确抓取位姿 if err_code != 0: os.system("pause") # 获取精确抓取位姿 err_code, fine_grasp_pose, fine_grasp_pose_num, fine_pipeline_num, fine_register_num = jk.xyzGetGraspPose(fine_grasp_token) if err_code != 0: os.system("pause") if fine_grasp_pose_num < 1: # 如果没有位姿，退出循环 break # move to fine grasp pose 移动到精确抓取位姿 speed = 10 # unit: mm/s jk.robot.linear_move(fine_grasp_pose, move_mode, is_block, speed) # 移动到精确抓取位姿 jk.robot.set_digital_output(IO_CABINET, 1, 1) # 抓取 # place item 放置工件 item_place_pose = [400,0,400,0,0,0] speed = 10 # unit: mm/s jk.robot.linear_move(item_place_pose, move_mode, is_block, speed) # 移动到放置位姿 jk.robot.set_digital_output(IO_CABINET, 1, 0) # 放置 ws_id = 0 err_code = jk.xyzSwitchItem(ws_id,"item1") # 切换工件 err_code, rough_grasp_token = jk.xyzReqGraspPose(ws_id) # 请求相机1粗抓取位姿 finally: jk.robot.logout() print("robot disconnected")