示教

机器人索引设置/获取

void Test()
{
    int rob_index=0;
    int err=-1;
    err=set_robot_index(robot_index); // Success: err=0 Fail: err!=0
    int ind=-1;
    ind=get_robot_index();
    cout << "get_robot_index OK " << endl;
}

set_robot_index 设置机器人索引

get_robot_index 获取机器人索引

rob_index 机器人索引

机器人工具设置/获取

void Test()
{

    string toolName = "";
    const char * tool_name = toolName.c_str();
    int isRobotToolSet = set_robot_tool(tool_name); // Success: isRobotToolSet=0 Fail: isRobotToolSet!=0
    cout << "set_robot_tool OK " << endl;
    string robot_tool = get_robot_tool();
    cout << "get_robot_tool OK " << endl;

}

set_robot_tool 设置当前操作机器人工具

get_robot_tool 获取当前操作机器人工具

toolName 工具名称

机器人工件设置/获取

void Test()
{
    string wobjName = "";
    const char * wobj_name = wobjName.c_str();
    int isRobotWobjSet = set_robot_wobj(wobj_name);// Success: isRobotWobjSet=0 Fail: isRobotWobjSet!=0
    cout << "set_robot_wobj OK " << endl;
    string robot_wobj = get_robot_wobj();
    cout << "get_robot_wobj OK " << endl;
}

set_robot_wobj 设置当前操作机器人工件

get_robot_wobj 获取当前操作机器人工件

wobjName 工件名称

机器人坐标系设置/获取

void Test()
{

    int frame = 0;
    int isTeachCoordSet = set_robot_teach_coordinate(frame);
    cout << "set_robot_teach_coordinate OK " << endl;
    int teach_coord = get_robot_teach_coordinate();
    cout << "get_robot_teach_coordinate OK " << endl;

}

set_robot_teach_coordinate 设置当前操作机器人的坐标系

get_robot_teach_coordinate 获取当前操作机器人的坐标系

frame 坐标系编号, 0:关节;1:机器人基坐标系;2:机器人工具坐标系;3:机器人工件坐标系

获取机器人数量和状态

void Test()
{
    // 机器人数量
    int num = get_robot_num();
    cout << "get_robot_num OK " << endl;
    // 机器人自由度
    int dof = get_robot_dof();
    cout << "get_robot_dof OK " << endl;
    // 机器人关节位置
    double joint[ROBOT_MAX_DOF];
    int isJointGot = get_robot_joint(joint);
    gettimeofday(&tend,NULL);
    int sec = tend.tv_sec;
    cout << "joint: " << joint[0] << "," << joint[1] << ".. t= " << sec << endl;
    double robot_coord[6];
    int isCoordGot = get_robot_cartesian(robot_coord);
    cout << "get_robot_cartesian OK " << endl;
}

get_robot_num 获取机器人数目

get_robot_dof 获取当前操作机器人的自由度

get_robot_joint 获取当前操作机器人的关节位置

get_robot_cartesian 获取当前操作机器人的笛卡尔位置

joint 机器人关节位置(rad)

robot_coord 机器人笛卡尔位置(mm, rad), 数据相对设置的坐标系描述

机器人示教速度设置/获取

void Test()
{

    double valV =  0.5;
    set_robot_teach_velocity(valV);
    cout << "set_robot_teach_velocity OK " << endl;
    double valV = get_robot_teach_velocity();
    cout << "get_robot_teach_velocity OK " << endl;

}

set_robot_teach_velocity 设置当前操作机器人的示教速度

get_robot_teach_velocity 获取当前操作机器人的示教速度

valV 示教速度百分比(0~1)

机器人运行方式设置/获取

void Test()
{
    int isSimulation =  1;
    set_robot_run_type(isSimulation);
    cout << "set_robot_run_type OK " << endl;
    int run_type = get_robot_run_type();
    cout << "get_robot_run_type OK " << endl;
}

set_robot_run_type 设置当前操作机器人的运行方式

get_robot_run_type 获取当前操作机器人的运行方式

isSimulation 0: 非仿真运行；1: 仿真运行

机器人运行状态获取

void Test()
{

    int run_state = get_robot_run_state();
    cout << "get_robot_run_state OK " << endl;

}

get_robot_run_state 获取当前操作机器人的运行状态

run_state _move_finish(0):运动完成,_move_run_joint(1),_move_run_line(2),_move_run_cricle(3),_move_run_helical(4),_move_run_bspline(5),_move_run_zone(6),_move_stop(7),_move_run_zone_finish(8)；其他：运动状态错误:_move_error(-1)

末端六维力传感器创建/标定/获取

void Test()
{
    // 创建
    string sensorName = "";
    const char * sensor_name = sensorName.c_str();
    int isTorqueSensorCreated = create_robot_torque_sensor(sensor_name);
    cout << "create_robot_torque_sensor OK " << endl;
    // 标定
    string sensorName = "";
    const char * sensor_name = sensorName.c_str();
    int isTorqueSensorCalibed = calibration_robot_torque_sensor(sensor_name);
    cout << "calibration_robot_torque_sensor OK " << endl;
    // 获取
    string sensorName = "";
    const char * sensor_name = sensorName.c_str();
    double dataTorqueSensor[6];
    int isTorqueSensorData = get_robot_torque_sensor(sensor_name, dataTorqueSensor);
    cout << "get_robot_torque_sensor OK " << endl;
}

create_robot_torque_sensor 创建末端六维力传感器

calibration_robot_torque_sensor 末端六维力传感器标定（仅需一次，永久生效）

get_robot_torque_sensor 获取末端六维力传感器数据

sensorName 创建时指定的名字，其他操作用到该名字。该名字与设备描述配置文件名一致(不包含后缀)

dataTorqueSensor 六维传感器数据，[fx, fy, fz, tx, ty, tz](N, Nm)

获取末端六维力传感器转换到工具数据

void Test()
{

    string sensorName = "";
    const char * sensor_name = sensorName.c_str();
    double dataTorqueSensor[6];
    int isTorqueSensorData = get_robot_torque_sensor(sensor_name, dataTorqueSensor);
    cout << "get_robot_torque_sensor_transform OK " << endl;

}

get_robot_torque_sensor_transform 获取末端六维力传感器转换到工具数据

sensorName 创建时指定的名字

dataTorqueSensor 六维传感器数据，[fx,fy,fz,tx,ty,tz](N, Nm)

夹爪创建/开合控制

void Test()
{
    string gripName = ”“;
    const char * grip_name = gripName.c_str();    
    int isGripCreated = create_robot_grip(grip_name);
    cout << "create_robot_grip OK " << endl;
    string gripName = "";
    const char * grip_name = gripName.c_str(); 
    double gripPercent = 1.0;
    int isGripControl = control_robot_grip(grip_name, gripPercent);
    cout << "control_robot_grip OK " << endl;
}

create_robot_grip 创建夹爪

control_robot_grip 夹爪开合控制

gripName 创建时指定的名字，其他操作用到该名字。该名字与设备描述配置文件名一致(不包含后缀)

gripPercent 夹爪闭合程度，0.0~1.0之间取值，0.0完全伸展开，1.0完全夹紧

机器人错误运动状态清除

void Test()
{

    robot_move_error_clear();
    cout << "control_robot_grip OK " << endl;

}

robot_move_error_clear 清除当前操作机器人的错误运动状态

机器人项目启动/关闭

void Test()
{
    string projectName = "";
    const char * project_name = projectName.c_str(); 
    int isProject = start_robot_project(project_name);
    // int isProject = start_robot_c_project(project_name);
    // int isProject = start_robot_lua_project(project_name);
    cout << "start_robot_project OK " << endl;
    int isProject = close_robot_project();
    int isProject = close_robot_c_project();
    int isProject = close_robot_lua_project();
    cout << "close_robot_project OK " << endl;
}

start_robot_project 启动机器人项目

close_robot_project 关闭机器人项目

start_robot_c_project 启动机器人C项目

close_robot_c_project 关闭机器人C项目

start_robot_lua_project 启动机器人lua项目

close_robot_lua_project 关闭机器人lua项目

projectName 机器人项目名

保存机器人关节数据/位置及姿态数据

void Test()
{

    string dataName = "";
    const char * data_name = dataName.c_str();
    int isSaved = save_robot_current_joint_data(data_name);
    cout << "save_robot_current_joint_data OK " << endl;

    string dataName = "";
    const char * data_name = dataName.c_str();
    int isSaved = save_robot_current_cartesian_data(data_name);
    cout << "save_robot_current_cartesian_data OK " << endl;

}

save_robot_current_joint_data 保存当期操作机器人的当前关节数据

save_robot_current_cartesian_data 保存当期操作机器人的当前位置及姿态数据

dataName 数据名字，建议数据命名规则：”j1","j2",...,"jn"或”p1","p2",...,"pn"，重名数据被覆盖

机器人使能/去使能

void Test()
{
    int nState = robot_teach_enable();
    cout << "robot_teach_enable OK " << endl;
    int nState = robot_teach_disenable();
    cout << "robot_teach_disenable OK " << endl;
}

robot_teach_enable 使能当前操作机器人

robot_teach_disenable 去使能当前操作机器人

nState 0: 执行成功；其他：运动状态错误或去使能失败(-1), _move_run_joint(1), _move_run_line(2), _move_run_cricle(3), _move_run_helical(4), _move_run_bspline(5), _move_run_zone(6), _move_stop(7), _move_run_zone_finish(8)

机器人示教移动停止

void Test()
{    

    int nState = robot_teach_stop();
    cout << "robot_teach_stop OK " << endl;

}

robot_teach_stop 停止当前操作机器人的示教移动

机器人回零运动

void Test()
{    
    int move_state = robot_home();
    cout << "robot_home OK " << endl;
}

robot_home 当前操作机器人回零运动

机器人运动到指定目标关节位置

void Test()
{      

    double movJ[ROBOT_MAX_DOF];
    for(int ii=0; ii<ROBOT_MAX_DOF; ii++) {
        movJ[ii] = request->reqarr(ii);
    }
    int move_state = robot_goto(movJ, dof);
    cout << "robot_goto OK " << endl;

}

robot_goto 当前操作机器人运动到指定目标关节位置

movJ 机器人目标关节位置(rad)

dof 机器人机器人自由度

在关节空间示教机器人

void Test()
{         
    int axis_index = 1;
    int direction = 1;
    int move_state = robot_teach_joint(axis_index, direction);
    cout << "robot_teach_joint OK " << endl;
}

robot_teach_joint 在关节空间示教当前操作机器人

axis_index 机器人关节索引(0, 1, 2, ...)

direction 运动方向，>0: 正方向运动，<0: 负方向运动，=0: 不运动

在笛卡尔空间示教机器人

void Test()
{         

    int axis_index = 0;
    int direction = 1;
    int move_state = robot_teach_cartesian(axis_index, direction);
    cout << "robot_teach_cartesian OK " << endl;
    cout << "robot_teach_joint OK " << endl;

}

robot_teach_cartesian 在笛卡尔空间示教当前操作机器人，运动相对坐标系包括：基座坐标系，工件坐标系，工具坐标系，由当前设置的坐标系决定

axis_index 机器人笛卡尔轴索引(0:x,1:y,2:z,3:rx,4:ry,5:rz)

direction 运动方向，>0:正方向运动，<0:负方向运动，=0:不运动

示教机器人

void Test()
{   
    int axis_index = 0;
    int direction = 1;
    int move_state = robot_teach_move(axis_index, direction);
    cout << "robot_teach_move OK " << endl;
}

robot_teach_move 示教当前操作机器人，运动相对坐标系包括：关节坐标系，基座坐标系，工件坐标系，工具坐标系，由当前设置的坐标系决定

axis_index 机器人关节索引(0, 1, 2, ...)或机器人笛卡尔轴索引(0:x, 1:y, 2:z, 3:rx, 4:ry, 5:rz)

direction 运动方向，>0: 正方向运动，<0: 负方向运动，=0: 不运动