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Lizongdi
ea77c41d9a
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3 weeks ago | |
|---|---|---|
| .. | ||
| .idea | 3 months ago | |
| .vscode | 3 months ago | |
| ETController.py | 3 months ago | |
| Example_0_5.py | 4 weeks ago | |
| Pose_5.txt | 3 months ago | |
| Pose_6.txt | 3 months ago | |
| Pose_7.txt | 3 months ago | |
| Pose_8.txt | 3 months ago | |
| config.json | 1 month ago | |
| gpio.py | 3 months ago | |
| joint_positions_assembled_5.txt | 3 months ago | |
| joint_positions_assembled_6.txt | 3 months ago | |
| joint_positions_assembled_7.txt | 3 months ago | |
| joint_positions_assembled_8.txt | 3 months ago | |
| program_config.py | 3 months ago | |
| readme.txt | 3 months ago | |
| serial_handler.py | 3 months ago | |
| serial_init.py | 3 months ago | |
| trajectory_data.py | 3 weeks ago | |
| trajectory_program.py | 3 weeks ago | |
| transform.py | 3 months ago | |
readme.txt
1、config.json:
（1）、config.json中的program_delay_map代表每段程序执行结束后的延时时间，单位秒
sequence_1 = [2, 300, 4, 100] # 情况1的循环序列
sequence_3 = [6, 700, 8, 500] # 情况3的循环序列
（2）、config.json中的PRESET_PARAMS代表预设的速度和角度配置列表（速度百分比，角度偏移），
可根据实际需求修改，配置顺序为1-12
（3）、config.json中的relay_config喷枪开启和关闭位置
2、可根据实际情况修改机械臂位置
joint_positions_assembled_5、Pose_5.txt分别代表停机位置的关节位置和位姿
joint_positions_assembled_6.txt、Pose_6.txt分别代表初始位置的关节位置和位姿
joint_positions_assembled_7.txt、Pose_7.txt分别代表洗枪位置的关节位置和位姿
joint_positions_assembled_8.txt、Pose_8.txt分别代表试枪位置的关节位置和位姿
3、计算方法
直接将示教器屏幕显示关节位置数据直接填到joint_positions_assembled文件
位姿数据前三个数据不变，后三个数据，使用屏幕数据，根据公式4.76* (后三数据/180)，将计算结果放到Pose文件