案例/模板说明

机械臂主控主函数说明

轨迹移动同步模板

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

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

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

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")