杩愬姩
==========================================
.. |add| image:: img/add2.png
:width: 20px
鍦� **杩愬姩** 鐣岄潰锛岄厤缃豢鐪熺幆澧冨苟瑙勫垝杩愬姩璺緞銆�
.. 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`銆傚鏋滀粎鍦ㄤ豢鐪熺幆澧冧腑杩愯锛屽垯鏃犻渶閰嶇疆鏈烘鑷傚拰鐩告満銆�
閰嶇疆浠跨湡鐜
+++++++++++++++
鏍规嵁瀹為檯鍦烘櫙锛屽湪浠跨湡鐜涓坊鍔犳満姊拌噦銆佹枡绛愩€佸嚑浣曚綋銆佸伐鍏枫€�
1. 鍒涘缓椤圭洰鏃讹紝宸叉坊鍔犳満姊拌噦銆傚鏈坊鍔狅紝鍙湪 **杩愬姩** 椤电涓嬪揩鎹峰伐鍏锋爮锛屽崟鍑� **鏈烘鑷�**锛屾坊鍔犳満姊拌噦骞舵牴鎹渶瑕佽缃満姊拌噦杞檺浣嶏紝璇峰弬瑙� :doc:`../../../basic_operation/motion_operation/add_robot`銆�
2. 鍦ㄩ《閮ㄥ揩鎹峰伐鍏锋爮锛屽崟鍑� **瀹瑰櫒**锛屾坊鍔犲鍣ㄣ€傛湰椤圭洰闇€娣诲姞涓や釜鎵樼洏鍜屼竴涓紶閫佸甫锛屾坊鍔犲鍣ㄥ悗闇€璁剧疆瀹瑰櫒鍙婂伐浣滅┖闂寸殑灏哄銆佷綅濮跨瓑鍙傛暟锛岃鍙傝 :doc:`../../../basic_operation/motion_operation/add_ws`銆�
3. 鍦ㄩ《閮ㄥ揩鎹峰伐鍏锋爮锛屽崟鍑� **鍑犱綍浣�**锛屾牴鎹疄闄呭満鏅紝娣诲姞鍑犱綍浣擄紝鐢ㄤ簬琛ㄧず鐜涓殑鐩告満銆佺浉鏈烘敮鏋躲€佸洿鏍忕瓑闅滅鐗┿€�
.. image:: img/env.png
:align: center
:width: 350px
娉ㄥ唽鎶撴斁
++++++++++++
鍏堟敞鍐屽惛鍏凤紝鍐嶆敞鍐屾姄鍙栨柟寮忓拰鏀剧疆鍨涘瀷锛岀劧鍚庢敞鍐屾姄鏀惧鐞嗘祦绋嬨€�
1. 娉ㄥ唽鍚稿叿锛屾搷浣滃弬瑙� :ref:`basic_operation/motion_operation/add_tool:娉ㄥ唽鍚稿叿`銆�
a. 鍦� **杩愬姩** 椤电涓嬪揩鎹峰伐鍏锋爮锛屽崟鍑� **鏈宸ュ叿**锛岄€夋嫨 **娉ㄥ唽鍚稿叿**锛屽啀娣诲姞宸ュ叿褰㈡€侊紝璁剧疆鍚稿叿鐨勫昂瀵稿拰浣嶅Э锛屽崟鍑� **涓嬩竴姝�**銆�
.. image:: img/suctiontool.png
:align: center
:width: 700px
b. 璁剧疆鍚哥洏鍩哄噯闈㈢殑灏哄鍜岀浉瀵逛簬宸ュ叿鍧愭爣绯荤殑浣嶅Э锛屽彲閫夋嫨灏嗗惛鐩樺熀鍑嗛潰鐨勫昂瀵告垨浣嶅Э涓庣涓€涓鎾為暱鏂逛綋鍚屾銆�
c. 璁剧疆鍚哥洏鐗╃悊灞炴€э紝寮€鍚� **瑙嗚鍥哄畾Z杞存瑙嗗浘**锛岃缃瘡琛屽拰姣忓垪鍚稿彇鍗曞厓鏁伴噺锛屽湪鏈」鐩腑锛屾瘡琛�4涓惛鍙栧崟鍏冿紝姣忓垪1涓惛鍙栧崟鍏冿紝鍗曞嚮 **鑷姩鐢熸垚鍚稿彇鍗曞厓**锛岀敓鎴�4涓惛鍙栧崟鍏冦€�
.. image:: img/unit.png
:align: center
:width: 700px
d. 鍦� **鍚稿彇鍗曞厓璇︽儏** 涓嬫柟锛屾牴鎹満姊拌噦鐨処/O閰嶇疆锛岃缃瘡涓惛鍙栧崟鍏冪殑鎶撳彇I/O銆佹斁缃甀/O銆佹帀绠辨娴婭/O銆傚湪鏈」鐩腑锛孖/O绔彛鍒嗗尯濡備笅鍥炬墍绀恒€�
.. image:: img/IO.png
:align: center
:width: 700px
鍦ㄦ湰椤圭洰涓紝鍚哥洏鍒嗗尯I/O绔彛璁剧疆濡備笅琛ㄦ墍绀猴紝瀹為檯椤圭洰璁剧疆鏃讹紝璇锋牴鎹満姊拌噦鐨処/O閰嶇疆璋冩暣銆�
+-------------+----------------------------+---------------------------------------------------+------------------------------------------------------------------+
| 鍚稿彇鍗曞厓 | 鎶撳彇I/O | 鏀剧疆I/O | 鎺夌妫€娴婭/O |
+=============+============================+===================================================+==================================================================+
| 鍚稿彇鍗曞厓0_0 | 娣诲姞绔彛4锛屽皢瀵瑰簲鍊艰涓�1锛� | 1. 娣诲姞绔彛4锛屽皢瀵瑰簲鍊艰涓�0 | 1. 鍚敤鎺夌妫€娴婭/0鍜岃€冭檻浼犳劅鍣ㄥ叿浣撲綅缃� |
| | 寮€鍚悗寤舵椂璁句负500ms | 2. 娣诲姞绔彛9锛屽皢瀵瑰簲鍊艰涓�1锛屽紑鍚悗寤舵椂璁句负500ms | 2. 浣跨敤閫昏緫璁句负鈥滄垨鈥� |
| | | 3. 鍐嶆娣诲姞绔彛9锛屽皢瀵瑰簲鍊艰涓�0 | 3. 娣诲姞绔彛14锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�-100锛�100锛� |
| | | | 4. 娣诲姞绔彛15锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�100锛�100锛� |
| | | | 5. 娣诲姞绔彛13锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�-100锛�-100锛� |
| | | | 6. 娣诲姞绔彛12锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�100锛�-100锛� |
+-------------+----------------------------+---------------------------------------------------+------------------------------------------------------------------+
| 鍚稿彇鍗曞厓1_0 | 娣诲姞绔彛5锛屽皢瀵瑰簲鍊艰涓�1锛� | 1. 娣诲姞绔彛5锛屽皢瀵瑰簲鍊艰涓�0 | 1. 鍚敤鎺夌妫€娴婭/0鍜岃€冭檻浼犳劅鍣ㄥ叿浣撲綅缃� |
| | 寮€鍚悗寤舵椂璁句负500ms | 2. 娣诲姞绔彛8锛屽皢瀵瑰簲鍊艰涓�1锛屽紑鍚悗寤舵椂璁句负500ms | 2. 浣跨敤閫昏緫璁句负鈥滄垨鈥� |
| | | 3. 鍐嶆娣诲姞绔彛8锛屽皢瀵瑰簲鍊艰涓�0 | 3. 娣诲姞绔彛1锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�100锛�100锛� |
| | | | 4. 娣诲姞绔彛10锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�100锛�-100锛� |
| | | | 5. 娣诲姞绔彛11锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�-100锛�-100锛� |
| | | | 6. 娣诲姞绔彛0锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�-100锛�100锛� |
+-------------+----------------------------+---------------------------------------------------+------------------------------------------------------------------+
| 鍚稿彇鍗曞厓2_0 | 娣诲姞绔彛2锛屽皢瀵瑰簲鍊艰涓�1锛� | 1. 娣诲姞绔彛2锛屽皢瀵瑰簲鍊艰涓�0 | 1. 鍚敤鎺夌妫€娴婭/0鍜岃€冭檻浼犳劅鍣ㄥ叿浣撲綅缃� |
| | 寮€鍚悗寤舵椂璁句负500ms | 2. 娣诲姞绔彛7锛屽皢瀵瑰簲鍊艰涓�1锛屽紑鍚悗寤舵椂璁句负500ms | 2. 浣跨敤閫昏緫璁句负鈥滄垨鈥� |
| | | 3. 鍐嶆娣诲姞绔彛7锛屽皢瀵瑰簲鍊艰涓�0 | 3. 娣诲姞绔彛2锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�-100锛�100锛� |
| | | | 4. 娣诲姞绔彛3锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�100锛�100锛� |
| | | | 5. 娣诲姞绔彛8锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�100锛�-100锛� |
| | | | 6. 娣诲姞绔彛9锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�-100锛�-100锛� |
+-------------+----------------------------+---------------------------------------------------+------------------------------------------------------------------+
| 鍚稿彇鍗曞厓3_0 | 娣诲姞绔彛3锛屽皢瀵瑰簲鍊艰涓�1锛� | 1. 娣诲姞绔彛3锛屽皢瀵瑰簲鍊艰涓�0 | 1. 鍚敤鎺夌妫€娴婭/0鍜岃€冭檻浼犳劅鍣ㄥ叿浣撲綅缃� |
| | 寮€鍚悗寤舵椂璁句负500ms | 2. 娣诲姞绔彛6锛屽皢瀵瑰簲鍊艰涓�1锛屽紑鍚悗寤舵椂璁句负500ms | 2. 浣跨敤閫昏緫璁句负鈥滄垨鈥� |
| | | 3. 鍐嶆娣诲姞绔彛6锛屽皢瀵瑰簲鍊艰涓�0 | 3. 娣诲姞绔彛4锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�-100锛�100锛� |
| | | | 4. 娣诲姞绔彛5锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�100锛�100锛� |
| | | | 5. 娣诲姞绔彛6锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�100锛�-100锛� |
| | | | 6. 娣诲姞绔彛7锛屽皢鏈帀绠辨椂鐨勫€艰涓�1锛屼紶鎰熷櫒鐐逛綅璁句负锛�-100锛�-100锛� |
+-------------+----------------------------+---------------------------------------------------+------------------------------------------------------------------+
e. 鍗曞嚮 **涓嬩竴姝�**锛屽崟鍑� **鑷姩鐢熸垚鍚稿彇缁勫悎**銆�
f. 鍗曞嚮鍙充笅瑙� **瀹屾垚**锛屽洖鍒� **鍚稿叿** 椤电锛屽崟鍑诲彸涓嬭 **瀹屾垚骞舵坊鍔犲埌鏈烘鑷�**銆�
g. 灏嗗惛鍏锋坊鍔犺嚦鏈烘鑷傚悗锛岃缃惛鍏蜂腑蹇冪偣鐩稿浜庢硶鍏扮殑浣嶅Э銆�
.. image:: img/flange.png
:align: center
:width: 700px
2. 娉ㄥ唽鎶撳彇鏂瑰紡锛岃鍙傝 :doc:`../../../basic_operation/motion_operation/grasp_reg`銆�
a. 鍦ㄩ《閮ㄥ揩鎹峰伐鍏锋爮锛岄€夋嫨 鈥滄姄鍙栨柟寮� > 绠卞瓙鎶撳彇娉ㄥ唽鈥濄€�
b. 灏嗘姄鍙栨柟寮忚缃负 **鍗曟姄**锛岃缃姄鍙栬鍒欙紝鍗曞嚮 **涓嬩竴姝�**銆�
c. 鍦� **娴嬭瘯鍙傛暟閰嶇疆** 椤电涓嬶紝灏嗘祴璇曟柟寮忚缃负 **浠跨湡杩愯**锛屽灈鍨嬫潵婧愰€夋嫨 **鎵嬪姩娣诲姞鍨涘瀷**銆�
d. 鍗曞嚮 **鏂板绠卞瓙**锛岃缃瀛愬昂瀵革紝鍗曞嚮 **纭畾**锛岀劧鍚庡崟鍑� **涓嬩竴姝�**銆�
e. 锛堝彲閫夛級鍗曞嚮 **娴嬭瘯杩愯**锛屾煡鐪嬫祴璇曠粨鏋溿€�
f. 鍗曞嚮鍙充笅瑙� **瀹屾垚**銆�
.. image:: img/result.png
:align: center
:width: 700px
3. 娉ㄥ唽灏嗘枡绠辨媶鏀捐嚦杈撻€佺嚎涓婄殑鍨涘瀷锛岃鍙傝 :doc:`../../../basic_operation/motion_operation/place_reg`銆�
a. 鍦ㄩ《閮ㄥ揩鎹峰伐鍏锋爮锛岄€夋嫨 鈥滄斁缃柟寮� > 绠卞瓙鍗曠爜鍨涘瀷瑙勫垯锛堣嚜鍔級鈥濄€�
b. 鍦ㄥ彸渚у弬鏁拌缃爮锛岄厤缃崟鐮佸灈鍨嬭鍒欙紝杈撻€佺嚎涓婂灈鍨嬩竴鑸缃负涓€灞備竴涓€�
c. 鍗曞嚮鍙充笅瑙� **瀹屾垚**銆�
.. image:: img/place.png
:align: center
:width: 700px
4. 娉ㄥ唽鎶撴斁缁勫悎澶勭悊娴佺▼锛岃鍙傝 :doc:`../../../basic_operation/motion_operation/add_pipeline`銆�
a. 鍦ㄩ《閮ㄥ揩鎹峰伐鍏锋爮锛岄€夋嫨 鈥滄姄鏀捐鍒� > 缁勫悎澶勭悊娴佺▼ > 绾哥鍗曟媶鍗曠爜鈥濄€�
b. 鍦ㄥ彸渚у弬鏁拌缃爮锛岄厤缃鐞嗘祦绋嬨€傚湪鏈」鐩腑锛屾姄鍙栬缃繚鎸侀粯璁ゅ嵆鍙紝鏀剧疆璁剧疆涓斁缃綅濮挎潵婧愰€夋嫨 **宸ヤ綔绌洪棿鐨勬Ы**锛屽伐浣滅┖闂存Ы澶勭悊绛栫暐閫夋嫨 **淇濈暀浣嶄簬搴曞眰鐨勬斁缃墿浣�**锛屾姄鏀剧粍鍚堟柟寮忛€夋嫨 **鍖归厤鎶撳彇绠卞瓙鍜屾斁缃Ы褰㈢姸**銆�
c. 锛堝彲閫夛級鍦� **娴嬭瘯杩愯** 椤电涓嬶紝閫夋嫨鎶撳彇鍜屾斁缃伐浣滅┖闂达紝鍗曞嚮 **娴嬭瘯杩愯**锛屾煡鐪嬫祴璇曠粨鏋溿€�
d. 鍗曞嚮鍙充笅瑙� **瀹屾垚**銆�
.. image:: img/placement.png
:align: center
:width: 600px