ABB机器人接受3D相机坐标

[复制链接]
查看69769 | 回复0 | 2024-8-18 12:52:58 | 显示全部楼层 |阅读模式



1. 空间表示一个位姿,通常需要XYZABC来表示(其中ABC分别为RZ,RY,RX的欧拉角)

2. 3D相机通过socket发送如下形式坐标:1,2,3,4,5,6 (”,”为分隔符),ABB机器人如何通过socket接受以上数据并存储到对应数组内容,并将对应数据转化为机器人点位Robtarget?

3. 对于接收到的字符串1,2,3,4,5,6,可以使用如下代码解析并存入数组a12中
PERSnum a12{6}:=[1,2,3,4,5,6];PROC test22()       datadecode "1,2,3,4,5,6",",",a12;   ENDPROC
PROCdatadecode(string inputstr,string sp,inout num data{*})   !inputstr为输入数据字符串    !sp为分割字符   !data为存入数据数组       VAR string s1;       VAR string s2;       VAR num count;       VAR bool flag1;       count:=1;       FORi FROM 1 TOStrLen(inputstr) DO      !遍历字符串内所有字符           s1:=StrPart(inputstr,i,1);           !每次取一个字符           IF s1=sp THEN             !如果当前字符是分隔符,则将之前的字符串转化为数据并存入data{count}中               flag1:=strtoval(s2,data{count});               s2:="";               Incr count;           ELSE              !如果当前字符不是分割字符,则字符串拼接               s2:=s2+s1;           ENDIF           flag1:=strtoval(s2,data{count});       ENDFORENDPROC

4. 对于存入数组a12中的数据,可以通过如下代码赋值到对应robtarget并移动机器人
PROCpath_move()       ptmp2:=p10;       !p10为标准位置       ptmp2.trans.x:=a12{1};       ptmp2.trans.y:=a12{2};       ptmp2.trans.z:=a12{3};       ptmp2.rot:=OrientZYX(a12{4},a12{5},a12{6});       !orientzyx(rz,ry,rx)       !将欧拉角转化为四元数       MoveL ptmp2,v100,fine,tool1WObj:=wobj0;   ENDPROC
5. 完整通过socket接受3D相机坐标并移动示例代码如下:
MODULEm3PERSnum a1:=4;    pers robtarget p100:=[[637.0908,93.56882,1145.292],[0.9970773,0.07639935,-6.336661E-06,7.70224E-06],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];    VAR socketdev socket1;    VAR string received_string;PERSnum a12{6}:=[1,2,3,4,5,6];VARrobtarget ptmp:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];VARrobtarget ptmp2:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];persnum curr_position{6}:=[0,0,0,0,0,0];CONSTrobtarget p10:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
PROCmain1()VARstring str_pose;        SocketCreate socket1;        SocketConnect socket1,"127.0.0.1",8025;        WHILE TRUE DOptmp:=CRobT();curr_position{1}:=ptmp.trans.x;curr_position{2}:=ptmp.trans.y;curr_position{3}:=ptmp.trans.z;curr_position{4}:=EulerZYX(\z,ptmp.rot);curr_position{5}:=EulerZYX(\y,ptmp.rot);curr_position{6}:=EulerZYX(\x,ptmp.rot);
SocketSendsocket1\Str:="request cam";SocketSendsocket1\Str:="curr_pos "+ValToStr(curr_position);            !send curr position
SocketReceivesocket1\Str:=received_string;            !receive postionTPWrite"Server wrote - "+received_string;datadecodereceived_string,",",a12;            !put receive string position into a12 arraypath_move;ENDWHILEreceived_string:="";    ERRORSocketClosesocket1;    ENDPROC
    PROC path_move()ptmp2:=p10;ptmp2.trans.x:=a12{1};ptmp2.trans.y:=a12{2};ptmp2.trans.z:=a12{3};ptmp2.rot:=OrientZYX(a12{4},a12{5},a12{6});        !orientzyx(rz,ry,rx)MoveLptmp2,v100,fine,tool1\WObj:=wobj0;    ENDPROC
PROCdatadecode(string inputstr,string sp,inout num data{*})VARstring s1;VARstring s2;VARnum count;VARbool flag1;
count:=1;FORi FROM 1 TO StrLen(inputstr) DOs1:=StrPart(inputstr,i,1);IFs1=sp THENflag1:=strtoval(s2,data{count});s2:="";Incrcount;ELSEs2:=s2+s1;ENDIFflag1:=strtoval(s2,data{count});ENDFOR    ENDPROCENDMODULE


本帖子中包含更多资源

您需要 登录 才可以下载或查看,没有账号?注册哦

x
您需要登录后才可以回帖 登录 | 注册哦

本版积分规则