机械手臂-姿态

一般来说，六轴机械手臂有8种姿态。
分为三个部分  左肩/右肩  外肘/内肘  正腕/反腕，这八种姿态与joint值有关。
不是所有的空间点都有8个姿态

程序代码:

代码 
 1 begin
 2   mNomSpeed.accel=mNomSpeed.decel=200
 3   cls()
 4   userPage()
 5   wait(isPowered())
 6   taskCreate "Screen",100,Screen()
 7   while true
 8     
 9     
10     //1.
11     nFlag=0
12     pP.config.shoulder=righty
13     pP.config.elbow=enegative
14     pP.config.wrist=wnegative
15     movej(pP,flange,mNomSpeed)
16     waitEndMove()
17     nFlag=1
18     delay(3)
19     
20     
21     //2
22     nFlag=0
23     pP.config.shoulder=righty
24     pP.config.elbow=enegative
25     pP.config.wrist=wpositive
26     movej(pP,flange,mNomSpeed)
27     waitEndMove()
28     nFlag=2
29     delay(3)
30     
31     
32     //3.
33     nFlag=0
34     pP.config.shoulder=righty
35     pP.config.elbow=epositive
36     pP.config.wrist=wnegative
37     movej(pP,flange,mNomSpeed)
38     waitEndMove()
39     nFlag=3
40     delay(3)
41     
42     //4.
43     nFlag=0
44     pP.config.shoulder=righty
45     pP.config.elbow=epositive
46     pP.config.wrist=wpositive
47     movej(pP,flange,mNomSpeed)
48     waitEndMove()
49     nFlag=4
50     delay(3)
51     
52     //5.
53     nFlag=0
54     pP.config.shoulder=lefty
55     pP.config.elbow=enegative
56     pP.config.wrist=wnegative
57     movej(pP,flange,mNomSpeed)
58     waitEndMove()
59     nFlag=5
60     delay(3)
61     
62     //6.
63     nFlag=0
64     pP.config.shoulder=lefty
65     pP.config.elbow=enegative
66     pP.config.wrist=wpositive
67     movej(pP,flange,mNomSpeed)
68     waitEndMove()
69     nFlag=6
70     delay(3)
71     
72     
73     //7.
74     nFlag=0
75     pP.config.shoulder=lefty
76     pP.config.elbow=epositive
77     pP.config.wrist=wnegative
78     movej(pP,flange,mNomSpeed)
79     waitEndMove()
80     nFlag=7
81     delay(3)
82     
83     
84     //8.
85     nFlag=0
86     pP.config.shoulder=lefty
87     pP.config.elbow=epositive
88     pP.config.wrist=wpositive
89     movej(pP,flange,mNomSpeed)
90     waitEndMove()
91     nFlag=8
92     delay(3)
93     
94   endWhile
95   
96 end

 

 

posted @ 2013-03-25 16:35  竖毛杰  阅读(1453)  评论(0)  编辑  收藏  举报