机器人算法相关的对外接口更多...

#include <robot_algorithm.h>

Public 成员函数
	RobotAlgorithm ()

virtual	~RobotAlgorithm ()

ForceSensorCalibResult	calibrateTcpForceSensor (const std::vector< std::vector< double >> &forces, const std::vector< std::vector< double >> &poses)
	力传感器标定算法(三点标定法) 更多...

ForceSensorCalibResultWithError	calibrateTcpForceSensor2 (const std::vector< std::vector< double >> &forces, const std::vector< std::vector< double >> &poses)
	力传感器标定算法(三点标定法) 更多...

int	payloadIdentify (const std::string &data_file_no_payload, const std::string &data_file_with_payload)
	基于电流的负载辨识算法接口更多...

int	payloadIdentify1 (const std::string &file_name)
	新版基于电流的负载辨识算法接口更多...

int	payloadCalculateFinished ()
	负载辨识是否计算完成更多...

Payload	getPayloadIdentifyResult ()
	获取负载辨识结果更多...

bool	frictionModelIdentify (const std::vector< std::vector< double >> &q, const std::vector< std::vector< double >> &qd, const std::vector< std::vector< double >> &qdd, const std::vector< std::vector< double >> &temp)
	关节摩擦力模型辨识算法接口更多...

ResultWithErrno	calibWorkpieceCoordinatePara (const std::vector< std::vector< double >> &q, int type)
	工件坐标系标定算法接口(需要在调用之前正确的设置机器人的TCP偏移) 输入多组关节角度和标定类型，输出工件坐标系位姿(相对于机器人基坐标系) 更多...

ResultWithErrno	forwardDynamics (const std::vector< double > &q, const std::vector< double > &torqs)
	动力学正解更多...

ResultWithErrno	forwardDynamics1 (const std::vector< double > &q, const std::vector< double > &torqs, const std::vector< double > &tcp_offset)
	动力学正解，基于给定的TCP偏移更多...

ResultWithErrno	forwardKinematics (const std::vector< double > &q)
	运动学正解, 基于激活的TCP偏移(最近的通过 setTcpOffset 设置的参数) 输入关节角度，输出TCP位姿更多...

ResultWithErrno	forwardKinematics1 (const std::vector< double > &q, const std::vector< double > &tcp_offset)
	运动学正解输入关节角度，输出TCP位姿更多...

ResultWithErrno	forwardToolKinematics (const std::vector< double > &q)
	运动学正解(忽略 TCP 偏移值) 更多...

ResultWithErrno	inverseKinematics (const std::vector< double > &qnear, const std::vector< double > &pose)
	运动学逆解输入TCP位姿和参考关节角度，输出关节角度更多...

ResultWithErrno	inverseKinematics1 (const std::vector< double > &qnear, const std::vector< double > &pose, const std::vector< double > &tcp_offset)
	运动学逆解输入TCP位姿和参考关节角度，输出关节角度更多...

ResultWithErrno1	inverseKinematicsAll (const std::vector< double > &pose)
	求出所有的逆解, 基于激活的 TCP 偏移更多...

ResultWithErrno1	inverseKinematicsAll1 (const std::vector< double > &pose, const std::vector< double > &tcp_offset)
	求出所有的逆解, 基于提供的 TCP 偏移更多...

ResultWithErrno	inverseToolKinematics (const std::vector< double > &qnear, const std::vector< double > &pose)
	运动学逆解(忽略 TCP 偏移值) 更多...

ResultWithErrno1	inverseToolKinematicsAll (const std::vector< double > &pose)
	运动学逆解(忽略 TCP 偏移值) 更多...

std::vector< std::vector< double > >	pathMovej (const std::vector< double > &q1, double r1, const std::vector< double > &q2, double r2, double d)
	求解movej之间的轨迹点更多...

ResultWithErrno	calcJacobian (const std::vector< double > &q, bool base_or_end)
	计算机械臂末端的雅克比矩阵更多...

std::vector< std::vector< double > >	pathBlend3Points (int type, const std::vector< double > &q_start, const std::vector< double > &q_via, const std::vector< double > &q_to, double r, double d)
	求解交融的轨迹点更多...

int	generatePayloadIdentifyTraj (const std::string &name, const TrajConfig &traj_conf)
	生成用于负载辨识的激励轨迹此接口内部调用pathBufferAppend 将离线轨迹存入buffer中，后续可通过movePathBuffer运行离线轨迹更多...

int	payloadIdentifyTrajGenFinished ()
	负载辨识轨迹是否生成完成更多...

std::vector< std::vector< double > >	pathMoveS (const std::vector< std::vector< double >> &qs, double d)
	求解 moveS 的轨迹点更多...

Protected 属性
void *	d_

详细描述

机器人算法相关的对外接口

在文件 robot_algorithm.h 第 21 行定义.

构造及析构函数说明

arcs::common_interface::RobotAlgorithm::RobotAlgorithm ( )

virtual arcs::common_interface::RobotAlgorithm::~RobotAlgorithm ( )

virtual

成员函数说明

ResultWithErrno arcs::common_interface::RobotAlgorithm::calcJacobian	(	const std::vector< double > &	q,
		bool	base_or_end
	)

计算机械臂末端的雅克比矩阵

参数

q	关节角
base_or_end	参考坐标系为基坐标系（或者末端坐标系） true: 在 base 下描述 false: 在末端坐标系下描述

返回: 雅克比矩阵是否有效返回值的第一个参数为该构型下对应的雅克比矩阵，第二个为逆解错误码此接口的错误码返回值在0.28.1-rc.21 0.29.0-alpha.25版本之后做了修改。此前逆解错误时返回 30082 ，修改后错误码返回列表如下 0 - 成功 -23 - 逆解计算不收敛，计算出错 -24 - 逆解计算超出机器人最大限制 -25 - 逆解输入配置存在错误 -26 - 逆解雅可比矩阵计算失败 -27 - 目标点存在解析解，但均不满足选解条件 -28 - 逆解返回未知类型错误若错误码非0,则返回值的第一个参数为输入参考关节角qnear

异常

arcs::common_interface::AuboException

Python函数原型: calJacobian(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: bool) -> Tuple[List[float], int]

Lua函数原型: calJacobian(q: table, base_or_end: boolean) -> table

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.calcJacobian","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],true],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[[0.20822779551242535,-0.5409416184208162,0.2019786999613013,0.061264982268770196,-0.026269884327316487, 0.10131708699859962,0.26388933410019777,-0.36074292664199115,0.1346954733416397,0.04085636647597124,-0.07244204452918337,0.0708466286633346, 0.0,0.10401808481666497,-0.12571344758923886,-0.07741290545882097,0.18818543519232858,0.04628646442706299,0.0,0.5548228314607867, -0.5548228314607868,0.5548228314607868,-0.7901273140338193,0.37230961532208007,0.0,-0.8319685244586092,0.8319685244586091,-0.8319685244586091, -0.5269197820578843,-0.8184088260676008,1.0,3.749399456654644e-33,-6.512048180336603e-18,1.0956823467534067e-16,-0.31313634553301894, 0.43771285536682175],0]}

ForceSensorCalibResult arcs::common_interface::RobotAlgorithm::calibrateTcpForceSensor	(	const std::vector< std::vector< double >> &	forces,
		const std::vector< std::vector< double >> &	poses
	)

力传感器标定算法(三点标定法)

参数

force
q

返回

异常

arcs::common_interface::AuboException

Python函数原型: calibrateTcpForceSensor(self: pyaubo_sdk.RobotAlgorithm, arg0: List[List[float]], arg1: List[List[float]]) -> Tuple[List[float], List[float], float, List[float]]

Lua函数原型: calibrateTcpForceSensor(force: table, q: table) -> table

ForceSensorCalibResultWithError arcs::common_interface::RobotAlgorithm::calibrateTcpForceSensor2	(	const std::vector< std::vector< double >> &	forces,
		const std::vector< std::vector< double >> &	poses
	)

力传感器标定算法(三点标定法)

参数

forces
poses

返回: force_offset, com, mass, angle error

异常

arcs::common_interface::AuboException

ResultWithErrno arcs::common_interface::RobotAlgorithm::calibWorkpieceCoordinatePara	(	const std::vector< std::vector< double >> &	q,
		int	type
	)

工件坐标系标定算法接口(需要在调用之前正确的设置机器人的TCP偏移) 输入多组关节角度和标定类型，输出工件坐标系位姿(相对于机器人基坐标系)

参数

q	关节角度
type	标定类型

返回: 计算结果(工件坐标系位姿)以及错误代码

异常

arcs::common_interface::AuboException

Python函数原型: calibWorkpieceCoordinatePara(self: pyaubo_sdk.RobotAlgorithm, arg0: List[List[float]], arg1: int) -> Tuple[List[float], int]

Lua函数原型: calibWorkpieceCoordinatePara(q: table, type: number) -> table, number

ResultWithErrno arcs::common_interface::RobotAlgorithm::forwardDynamics	(	const std::vector< double > &	q,
		const std::vector< double > &	torqs
	)

动力学正解

参数

q	关节角
torqs

返回: 计算结果以及错误代码

异常

arcs::common_interface::AuboException

Python函数原型: forwardDynamics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: List[float]) -> Tuple[List[float], int]

Lua函数原型: forwardDynamics(q: table, torqs: table) -> table, number

ResultWithErrno arcs::common_interface::RobotAlgorithm::forwardDynamics1	(	const std::vector< double > &	q,
		const std::vector< double > &	torqs,
		const std::vector< double > &	tcp_offset
	)

动力学正解，基于给定的TCP偏移

参数

q	关节角
torqs

返回: 计算结果以及错误代码，同forwardDynamics

异常

arcs::common_interface::AuboException

Python函数原型: forwardDynamics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: List[float]) -> Tuple[List[float], int]

Lua函数原型: forwardDynamics(q: table, torqs: table) -> table, number

ResultWithErrno arcs::common_interface::RobotAlgorithm::forwardKinematics ( const std::vector< double > & q )

运动学正解, 基于激活的TCP偏移(最近的通过 setTcpOffset 设置的参数) 输入关节角度，输出TCP位姿

参数

q 关节角

返回: TCP位姿和正解结果是否有效

异常

arcs::common_interface::AuboException

Python函数原型: forwardKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float]) -> Tuple[List[float], int]

Lua函数原型: forwardKinematics(q: table) -> table, number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematics","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[[0.7137448715395925,0.08416057568819092,0.6707994191515292,2.4599818776908724,0.4789772388601265,1.6189630435878408],0]}s

ResultWithErrno arcs::common_interface::RobotAlgorithm::forwardKinematics1	(	const std::vector< double > &	q,
		const std::vector< double > &	tcp_offset
	)

运动学正解输入关节角度，输出TCP位姿

参数

q	关节角
tcp_offset	tcp偏移

返回: TCP位姿和正解结果是否有效

异常

arcs::common_interface::AuboException

Python函数原型: forwardKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: List[float]) -> Tuple[List[float], int]

Lua函数原型: forwardKinematics1(q: table, tcp_offset: table) -> table, number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematics1","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],[0.0, 0.13201,0.03879,0,0,0]],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[[0.7137636726659518,0.0837705432006433,0.6710022027216355,2.459981877690872,0.4789772388601267,1.6189630435878408],0]}

自从: 0.24.1

ResultWithErrno arcs::common_interface::RobotAlgorithm::forwardToolKinematics ( const std::vector< double > & q )

运动学正解(忽略 TCP 偏移值)

参数

q 关节角

返回: 法兰盘中心位姿和正解结果是否有效

异常

arcs::common_interface::AuboException

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardToolKinematics","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[[0.5881351149440136,0.05323734739426938,0.623922550656701,2.4599818776908724,0.4789772388601265,1.6189630435878408],0]}

bool arcs::common_interface::RobotAlgorithm::frictionModelIdentify	(	const std::vector< std::vector< double >> &	q,
		const std::vector< std::vector< double >> &	qd,
		const std::vector< std::vector< double >> &	qdd,
		const std::vector< std::vector< double >> &	temp
	)

关节摩擦力模型辨识算法接口

参数

q
qd
qdd
temp

返回

异常

arcs::common_interface::AuboException

Python函数原型: frictionModelIdentify(self: pyaubo_sdk.RobotAlgorithm, arg0: List[List[float]], arg1: List[List[float]], arg2: List[List[float]], arg3: List[List[float]]) -> bool

Lua函数原型: frictionModelIdentify(q: table, qd: table, qdd: table, temp: table) -> boolean

int arcs::common_interface::RobotAlgorithm::generatePayloadIdentifyTraj	(	const std::string &	name,
		const TrajConfig &	traj_conf
	)

生成用于负载辨识的激励轨迹此接口内部调用pathBufferAppend 将离线轨迹存入buffer中，后续可通过movePathBuffer运行离线轨迹

参数

name 轨迹名字

traj_conf 各关节轨迹的限制条件 traj_conf.move_axis: 运动的轴由于实际用户现场可能不希望在负载辨识时控制机械臂多关节大幅度运动，故最好选用traj_conf.move_axis=LoadIdentifyMoveAxis::Joint_4_6; traj_conf.init_joint: 运动初始关节角,为了避免关节5接近零位时的奇异问题，应设置traj_conf.init_joint[4]的绝对值不小于0.3(rad)，接近1.57(rad)为宜。其余关节的关节角可任意设置 traj_conf.lower_joint_bound, traj_conf.upper_joint_bound: 关节角上下限,维度应与config.move_axis维度保持一致,推荐设置upper_joint_bound为2，lower_joint_bound为-2 config.max_velocity, config.max_acceleration: 关节角速度角加速度限制,维度应与config.move_axis维度保持一致,出于安全和驱动器跟随性能的考虑,推荐设置max_velocity=3,max_acceleration=5

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Payload arcs::common_interface::RobotAlgorithm::getPayloadIdentifyResult ( )

获取负载辨识结果

返回

异常

arcs::common_interface::AuboException

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.getPayloadIdentifyResult","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[0.0,[],[],[]]}

ResultWithErrno arcs::common_interface::RobotAlgorithm::inverseKinematics	(	const std::vector< double > &	qnear,
		const std::vector< double > &	pose
	)

运动学逆解输入TCP位姿和参考关节角度，输出关节角度

参数

qnear	参考关节角
pose	TCP位姿

返回: 关节角和逆解结果是否有效返回值的第一个参数为逆解结果，第二个为逆解错误码，错误码返回列表如下 0 - 成功 -23 - 逆解计算不收敛，计算出错 -24 - 逆解计算超出机器人最大限制 -25 - 逆解输入配置存在错误 -26 - 逆解雅可比矩阵计算失败 -27 - 目标点存在解析解，但均不满足选解条件 -28 - 逆解返回未知类型错误若错误码非0,则返回值的第一个参数为输入参考关节角qnear

异常

arcs::common_interface::AuboException

Python函数原型: inverseKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: List[float]) -> Tuple[List[float], int]

Lua函数原型: inverseKinematics(qnear: table, pose: table) -> table, int

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],0]}

ResultWithErrno arcs::common_interface::RobotAlgorithm::inverseKinematics1	(	const std::vector< double > &	qnear,
		const std::vector< double > &	pose,
		const std::vector< double > &	tcp_offset
	)

运动学逆解输入TCP位姿和参考关节角度，输出关节角度

参数

qnear	参考关节角
pose	TCP位姿
tcp_offset	TCP偏移

返回: 关节角和逆解结果是否有效，同 inverseKinematics

异常

arcs::common_interface::AuboException

Python函数原型: inverseKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: List[float]) -> Tuple[List[float], int]

Lua函数原型: inverseKinematics(qnear: table, pose: table) -> table, int

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics1","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619],[0.0, 0.13201,0.03879,0,0,0]],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[[3.084454549595208,1.2278265883747776,1.0986586440159576,0.6708221281915528,-1.8712459848518375,-0.3965111476861782],0]}

ResultWithErrno1 arcs::common_interface::RobotAlgorithm::inverseKinematicsAll ( const std::vector< double > & pose )

求出所有的逆解, 基于激活的 TCP 偏移

参数

pose TCP位姿

返回: 关节角和逆解结果是否有效返回的错误码同inverseKinematics

异常

arcs::common_interface::AuboException

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematicsAll","params":[[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627], [3.081056801097411,0.17985038037652645,-1.0991717292664145,-0.4806460200109001,-1.869182975312333,-0.402066016835411], [0.4090095277807992,-0.1623365054641728,1.081775890307679,0.26993250263224805,0.9738255833642309,0.000572556627720845], [0.4116449425067969,-1.1931664523907126,-1.0822709833775688,-0.8665964106161371,0.9732141569888207,0.006484919654891586]],0]}

ResultWithErrno1 arcs::common_interface::RobotAlgorithm::inverseKinematicsAll1	(	const std::vector< double > &	pose,
		const std::vector< double > &	tcp_offset
	)

求出所有的逆解, 基于提供的 TCP 偏移

参数

pose	TCP位姿
tcp_offset	TCP偏移

返回: 关节角和逆解结果是否有效，同 inverseKinematicsAll 返回的错误码同inverseKinematics

异常

arcs::common_interface::AuboException

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematicsAll1","params":[[0.71374,0.08417,0.6708,2.46,0.479,1.619],[0.0, 0.13201,0.03879,0,0,0]],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[[[3.084454549595208,1.2278265883747776,1.0986586440159576,0.6708221281915528,-1.8712459848518375,-0.3965111476861782], [3.0818224058231602,0.17980369843203092,-1.0997576631122077,-0.48102131527371267,-1.8697135490338517,-0.40149459722060593], [0.40972960018231047,-0.16226026285489026,1.0823403816496,0.2700204411869427,0.9734251963887868,0.0012903686498106507], [0.41236549588802296,-1.193621392918341,-1.0828346680836718,-0.8671097369314354,0.972815367289568,0.007206851371073478]],0]}

ResultWithErrno arcs::common_interface::RobotAlgorithm::inverseToolKinematics	(	const std::vector< double > &	qnear,
		const std::vector< double > &	pose
	)

运动学逆解(忽略 TCP 偏移值)

参数

qnear	参考关节角
pose	法兰盘中心的位姿

返回: 关节角和逆解结果是否有效

异常

arcs::common_interface::AuboException

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseToolKinematics","params":[[0,0,0,0,0,0],[0.58815,0.0532,0.62391,2.46,0.479,1.619]],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[[3.083609363838651,1.22736129158332,1.098095443698268,0.6705395395487186,-1.8706605026855632,-0.39714507002376465],0]}

ResultWithErrno1 arcs::common_interface::RobotAlgorithm::inverseToolKinematicsAll ( const std::vector< double > & pose )

运动学逆解(忽略 TCP 偏移值)

参数

qnear	参考关节角
pose	法兰盘中心的位姿

返回: 关节角和逆解结果是否有效

异常

arcs::common_interface::AuboException

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseToolKinematicsAll","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619]],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[[[3.083609363838651,1.22736129158332,1.098095443698268,0.6705395395487186,-1.8706605026855632,-0.39714507002376465], [3.0809781797426523,0.17987122696706134,-1.0991932793263717,-0.4807053707530958,-1.8691282890274434,-0.40212516672751814], [0.40892195618737215,-0.16235398607358653,1.081812753177426,0.27003586475871766,0.9738744130114284,0.00048462518316674287], [0.41155633414333076,-1.1932173012004512,-1.082306542045813,-0.8665312056504818,0.9732632365861417,0.0063958311601771175]],0]}

std::vector<std::vector<double> > arcs::common_interface::RobotAlgorithm::pathBlend3Points	(	int	type,
		const std::vector< double > &	q_start,
		const std::vector< double > &	q_via,
		const std::vector< double > &	q_to,
		double	r,
		double	d
	)

求解交融的轨迹点

参数

type	0-movej and movej 1-movej and movel 2-movel and movej 3-movel and movel
q_start	交融前路径的起点
q_via	在q1处的交融半径
q_to	交融后路径的终点
r	在q_via处的交融半径
d	采样距离

返回: q_via处的交融段笛卡尔空间离散轨迹点(x,y,z)集合

异常

arcs::common_interface::AuboException

Python函数原型: pathBlend3Points(self: pyaubo_sdk.RobotAlgorithm, arg0: int, arg1: List[float], arg2: List[float], arg3: List[float], arg4: float, arg5: float) -> List[List[float]]

Lua函数原型: pathBlend3Points(type: number, q_start: table, q_via: table, q_to: table, r: number, d: number) -> table, number

std::vector<std::vector<double> > arcs::common_interface::RobotAlgorithm::pathMovej	(	const std::vector< double > &	q1,
		double	r1,
		const std::vector< double > &	q2,
		double	r2,
		double	d
	)

求解movej之间的轨迹点

参数

q1	movej的起点
r1	在q1处的交融半径
q2	movej的终点
r2	在q2处的交融半径
d	采样距离

返回: q1~q2 之间笛卡尔空间离散轨迹点(x,y,z,rx,ry,rz)集合

异常

arcs::common_interface::AuboException

Python函数原型: pathMovej(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: float, arg2: List[float], arg3: float, arg4: float) -> List[List[float]]

Lua函数原型: pathMovej(q1: table, r1: number, q2: table, r2: number, d: number) -> table, number

std::vector<std::vector<double> > arcs::common_interface::RobotAlgorithm::pathMoveS	(	const std::vector< std::vector< double >> &	qs,
		double	d
	)

求解 moveS 的轨迹点

pathMoveS

参数

qs	样条轨迹生成点集合
d	采样距离

返回

异常

arcs::common_interface::AuboException

int arcs::common_interface::RobotAlgorithm::payloadCalculateFinished ( )

负载辨识是否计算完成

返回: 完成返回0; 正在进行中返回1; 计算失败返回<0;

异常

arcs::common_interface::AuboException

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.payloadCalculateFinished","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RobotAlgorithm::payloadIdentify	(	const std::string &	data_file_no_payload,
		const std::string &	data_file_with_payload
	)

基于电流的负载辨识算法接口

需要采集空载时运行激励轨迹的位置、速度、电流以及带负载时运行激励轨迹的位置、速度、电流

参数

data_file_no_payload	空载时运行激励轨迹各关节数据的文件路径（.csv格式），共18列，依次为6个关节位置、6个关节速度、6个关节电流
data_file_with_payload	带负载运行激励轨迹各关节数据的文件路径（.csv格式），共18列，依次为6个关节位置、6个关节速度、6个关节电流

返回: 辨识的结果

异常

arcs::common_interface::AuboException

Python函数原型: payloadIdentify(self: pyaubo_sdk.RobotAlgorithm, arg0: List[List[float]], arg1: List[List[float]]) -> Tuple[List[float], List[float], float, List[float]]

Lua函数原型: payloadIdentify(data_with_payload: table, data_with_payload: table) -> table

int arcs::common_interface::RobotAlgorithm::payloadIdentify1 ( const std::string & file_name )

新版基于电流的负载辨识算法接口

需要采集带载时运行最少三个点的位置、速度、加速度、电流、温度、末端传感器数据、底座数据

参数

data	带负载的各关节数据的文件路径（.csv格式），共42列，末端传感器数据、底座数据默认为0

返回: 辨识的结果

int arcs::common_interface::RobotAlgorithm::payloadIdentifyTrajGenFinished ( )

负载辨识轨迹是否生成完成

返回: 完成返回0; 正在进行中返回1; 计算失败返回<0;

异常

arcs::common_interface::AuboException

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.payloadIdentifyTrajGenFinished","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

类成员变量说明

void* arcs::common_interface::RobotAlgorithm::d_

protected

在文件 robot_algorithm.h 第 595 行定义.

该类的文档由以下文件生成:

include/aubo/robot/robot_algorithm.h

Public 成员函数

Protected 属性

详细描述

构造及析构函数说明

成员函数说明

类成员变量说明