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)
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)
ResultWithErrno	calibrateTcpForceSensor3 (const std::vector< std::vector< double > > &forces, const std::vector< std::vector< double > > &poses, const double &mass, const std::vector< double > &cog)
	力传感器偏置标定算法
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
int	payloadIdentify1 (const std::string &file_name)
	新版基于电流的负载辨识算法接口
int	payloadCalculateFinished ()
	负载辨识是否计算完成
Payload	getPayloadIdentifyResult ()
	获取负载辨识结果
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
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)
ResultWithErrno	forwardDynamics (const std::vector< double > &q, const std::vector< double > &torqs)
	动力学正解
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
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
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
ResultWithErrno	forwardToolKinematics (const std::vector< double > &q)
	运动学正解(忽略 TCP 偏移值)
ResultWithErrno1	forwardKinematicsAll (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，输出各连杆位姿
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
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
ResultWithErrno1	inverseKinematicsAll (const std::vector< double > &pose)
	求出所有的逆解, 基于激活的 TCP 偏移
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
ResultWithErrno	inverseToolKinematics (const std::vector< double > &qnear, const std::vector< double > &pose)
	运动学逆解(忽略 TCP 偏移值)
ResultWithErrno1	inverseToolKinematicsAll (const std::vector< double > &pose)
	运动学逆解(忽略 TCP 偏移值)
ResultWithErrno3	getRobotConfiguration (const std::vector< double > &q)
	根据输入的关节角计算并返回对应的机械臂构型
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
ResultWithErrno	calcJacobian (const std::vector< double > &q, bool base_or_end)
	计算机械臂末端的雅克比矩阵
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
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
int	payloadIdentifyTrajGenFinished ()
	负载辨识轨迹是否生成完成
std::vector< std::vector< double > >	pathMoveS (const std::vector< std::vector< double > > &qs, double d)
	求解 moveS 的轨迹点
ResultWithErrno1	calibVibrationParams (const std::vector< std::vector< double > > &q, const std::vector< std::vector< double > > &qd, const std::vector< std::vector< double > > &target_q, const std::vector< std::vector< double > > &target_qd, const std::vector< std::vector< double > > &target_qdd, const std::vector< double > &tool_offset)
	振动抑制参数辨识算法接口
ResultWithErrno1	calibVibrationParams1 (const std::string &record_cache_name, const std::vector< double > &tool_offset)
	振动抑制参数辨识算法接口1
int	needVibrationRecalib (const VibrationRecalibrationParameter &param1, const VibrationRecalibrationParameter &param2, double threshold)
	判断是否需要重新辨识振动参数
int	validatePath (int type, const std::vector< double > &start, double r1, const std::vector< double > &end, double r2, double d)
	验证机器人运动路径从起点到终点的可达性

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 29 行定义.

构造及析构函数说明

◆ RobotAlgorithm()

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

◆ ~RobotAlgorithm()

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

virtual

成员函数说明

◆ calcJacobian()

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

Lua示例: calJ_result = calJacobian({0.58815,0.0532,0.62391,2.46,0.479,1.619},true)

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]}

◆ calibrateTcpForceSensor()

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	力数据
q	关节角度

返回: 标定结果

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

Lua示例: cal_table = calibrateTcpForceSensor({10.0,10.0,10.0,-1.2,-1.2,-1.2}, {3.083,1.227,1.098,0.670,-1.870,-0.397})

◆ calibrateTcpForceSensor2()

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

◆ calibrateTcpForceSensor3()

ResultWithErrno arcs::common_interface::RobotAlgorithm::calibrateTcpForceSensor3	(	const std::vector< std::vector< double > > &	forces,
		const std::vector< std::vector< double > > &	poses,
		const double &	mass,
		const std::vector< double > &	cog )

力传感器偏置标定算法

参数

force	力数据
poses	位姿
mass	质量, 单位: kg
cog	重心, 单位: m, 形式为(CoGx, CoGy, CoGz)

返回: 标定结果

异常

arcs::common_interface::AuboException

◆ calibVibrationParams()

ResultWithErrno1 arcs::common_interface::RobotAlgorithm::calibVibrationParams	(	const std::vector< std::vector< double > > &	q,
		const std::vector< std::vector< double > > &	qd,
		const std::vector< std::vector< double > > &	target_q,
		const std::vector< std::vector< double > > &	target_qd,
		const std::vector< std::vector< double > > &	target_qdd,
		const std::vector< double > &	tool_offset )

振动抑制参数辨识算法接口

参数

q	当前关节角度
qd	当前关节速度
target_q	目标关节角度
target_qd	关节速度
target_qdd	关节加速度
tool_offset	工具TCP信息
omega	振动频率
zeta	振动阻尼比

返回: 振动抑制参数和是否辨识成功

异常

arcs::common_interface::AuboException

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

Lua函数原型: calibVibrationParams(q: table,qd: table, target_q: table, target_qd: table, target_qdd: table, tool_offset: table, omega: table, zeta: table) -> table,number

◆ calibVibrationParams1()

ResultWithErrno1 arcs::common_interface::RobotAlgorithm::calibVibrationParams1	(	const std::string &	record_cache_name,
		const std::vector< double > &	tool_offset )

振动抑制参数辨识算法接口1

参数

record_cache_name	目标缓存名称
tool_offset	工具TCP信息

返回: 振动抑制参数和是否辨识成功

异常

arcs::common_interface::AuboException

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

Lua函数原型: calibVibrationParams(record_cache_name: string, tool_offset: table) -> table,number

◆ calibWorkpieceCoordinatePara()

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

Lua示例: coord_pose,coord_num = calibWorkpieceCoordinatePara({3.083,1.227,1.098,0.670,-1.870,-0.397},1)

◆ forwardDynamics()

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

Lua示例: Dynamics, fk_result = forwardDynamics({3.083,1.227,1.098,0.670,-1.870,-0.397},{0.0,0.0,0.0,0.0,0.0,0.0})

◆ forwardDynamics1()

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
tcp_offset	TCP偏移

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], arg2: List[float]) -> Tuple[List[float], int]

Lua函数原型: forwardDynamics1(q: table, torqs: table, tcp_offset: table) -> table, number

Lua示例: Dynamics, fk_result = forwardDynamics1({3.083,1.227,1.098,0.670,-1.870,-0.397},{0.0,0.0,0.0,0.0,0.0,0.0},{0.0,0.13201,0.03879,0,0,0})

◆ forwardKinematics()

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返回值的第一个参数为正解结果，第二个为正解错误码，错误码返回值列表如下 0 - 成功 -1 - 机械臂状态不对(未初始化完成，可尝试再次调用) -5 - 输入的关节角无效(维度错误)

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

Lua示例: pose, fk_result = forwardKinematics({3.083,1.227,1.098,0.670,-1.870,-0.397})

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]}

◆ forwardKinematics1()

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返回值的第一个参数为正解结果，第二个为正解错误码，错误码返回值列表如下 0 - 成功 -1 - 机械臂状态不对(未初始化完成，可尝试再次调用) -5 - 输入的关节角或tcp偏移无效(维度错误)

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

Lua示例: pose, fk_result = forwardKinematics1({3.083,1.227,1.098,0.670,-1.870,-0.397},{0.0,0.13201,0.03879,0,0,0})

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

◆ forwardKinematicsAll()

ResultWithErrno1 arcs::common_interface::RobotAlgorithm::forwardKinematicsAll ( 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，输出各连杆位姿

参数

q 关节角

返回: 各个连杆位姿和正解结果是否有效返回值的第一个参数为正解结果，第二个为正解错误码，错误码返回值列表如下 0 - 成功 -1 - 机械臂状态不对(未初始化完成，可尝试再次调用) -5 - 输入的关节角无效(维度错误)

异常

arcs::common_interface::AuboException

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

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

Lua示例: poses, fk_result = forwardKinematicsAll({3.083,1.227,1.098,0.670,-1.870,-0.397})

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematicsAll","params":{"q":[-7.32945e-11,-0.261799,1.74533,0.436332,1.5708,-2.14136e-10]},"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[[[0.0010004,0.0,0.122,0.0,0.0,3.141592653589793], [0.0010003999910823934,-0.12166795404953117,0.12205392567412496,1.5690838552993878,-1.3089969602251492,0.0016541204887245322], [0.10659809449330016,-0.12166124765791932,0.5161518260534821,-1.5718540206872664,0.43633111081725523,-0.002370419930605744], [0.4482255342315581,-0.1226390142692,0.3568490758201224,-0.000788980482890453,1.5665204619271216,-1.5719618592940798], [0.5519603828181741,-0.12282266347465487,0.35639753697117343,1.5707938201843654,0.0042721909279596635,1.569044569428874], [0.5513243939877184,-0.12401224959696328,0.2615193425222568,-3.1349118101994096,0.004272190926529066,1.569044569643007], [0.7494883076798231,-0.025647479212994567,-0.04023458911333461,-3.1349118101994096,0.004272190926529066,1.569044569643007]],0]}

◆ forwardToolKinematics()

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返回值的第一个参数为正解结果，第二个为正解错误码，错误码返回值列表如下 0 - 成功 -1 - 机械臂状态不对(未初始化完成，可尝试再次调用) -5 - 输入的关节角无效(维度错误)

异常

arcs::common_interface::AuboException

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

Lua示例: pose, fk_result = forwardToolKinematics({3.083,1.227,1.098,0.670,-1.870,-0.397})

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]}

◆ frictionModelIdentify()

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	关节角度
qd	关节速度
qdd	关节加速度
temp	关节温度

返回: 是否辨识成功

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

Lua示例: Identify_result = frictionModelIdentify({3.083,1.227,1.098,0.670,-1.870,-0.397}, {10.0,10.0,10.0,10.0,10.0,10.0},{20.0,20.0,20.0,20.0,20.0,20.0},{30.0,30.0,30.0,30.0,30.0,30.0})

◆ generatePayloadIdentifyTraj()

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

◆ getPayloadIdentifyResult()

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,[],[],[]]}

◆ getRobotConfiguration()

ResultWithErrno3 arcs::common_interface::RobotAlgorithm::getRobotConfiguration ( const std::vector< double > & q )

根据输入的关节角计算并返回对应的机械臂构型

机械臂构型由三个维度的状态组合而成，各维度定义如下：

肩部方向：LEFT(肩部朝左) / RIGHT(肩部朝右)
肘部方向：UP(肘部朝上) / DOWN(肘部朝下)
腕部状态：FLIP(腕部翻转) / NOFLIP(腕部不翻转)

三个维度两两组合共形成8种基础构型（L/R + U/D + F/N），该接口会根据输入的关节角解析出当前对应的构型类型，并返回其枚举值对应的整数形式及错误码（注：接口返回的是组合构型值，如LUF对应0，而非单独的LEFT/UP/FLIP枚举值）。

参数

q	输入的关节角数组，6轴机械臂为6个元素，单位：弧度(rad)

返回

机械臂构型结果及错误码（类型为ResultWithErrno3，即std::tuple<int, int>）：

第一个int：机械臂构型枚举(RobotConfiguration)对应的整数值，取值范围及含义： -1 (NONE) - 无效构型 0 (LUF) - LEFT+UP+FLIP（左肩、肘上、腕翻转） 1 (LUN) - LEFT+UP+NOFLIP（左肩、肘上、腕不翻转） 2 (LDF) - LEFT+DOWN+FLIP（左肩、肘下、腕翻转） 3 (LDN) - LEFT+DOWN+NOFLIP（左肩、肘下、腕不翻转） 4 (RUF) - RIGHT+UP+FLIP（右肩、肘上、腕翻转） 5 (RUN) - RIGHT+UP+NOFLIP（右肩、肘上、腕不翻转） 6 (RDF) - RIGHT+DOWN+FLIP（右肩、肘下、腕翻转） 7 (RDN) - RIGHT+DOWN+NOFLIP（右肩、肘下、腕不翻转）
第二个int：错误码，错误码含义如下： 0 - 成功：构型计算完成，返回有效构型值 -1 - 机械臂状态异常：未初始化完成，可尝试重新初始化后调用 -5 - 输入参数无效：关节角数组维度错误（非6个元素）或数值超出合理范围

异常

arcs::common_interface::AuboException 输入参数非法（如空数组、元素数量错误）时抛出

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

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

Lua示例: – 输入6轴关节角（单位：rad），获取构型及错误码 local joint_angles = {3.083,1.227,1.098,0.670,-1.870,-0.397} local config_val, err_code = getRobotConfiguration(joint_angles) if err_code == 0 then print("机械臂构型值：", config_val) – 示例输出：4（对应RUF，右肩、肘上、腕翻转） else print("获取构型失败，错误码：", err_code) end

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.getRobotConfiguration","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":[4,0]}

◆ inverseKinematics()

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 -1 - 机械臂状态不对(未初始化完成，可尝试再次调用) -5 - 输入的参考关节角或TCP位姿无效(维度错误) -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

Lua示例: joint,ik_result = inverseKinematics({0,0,0,0,0,0},{0.81665,-0.20419,0.43873,-3.135,0.004,1.569})

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]}

◆ inverseKinematics1()

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: inverseKinematics1(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: List[float], arg2: List[float]) -> Tuple[List[float], int]

Lua函数原型: inverseKinematics1(qnear: table, pose: table, tcp_offset: table) -> table, int

Lua示例: joint,ik_result = inverseKinematics1({0,0,0,0,0,0},{0.81665,-0.20419,0.43873,-3.135,0.004,1.569},{0.04,-0.035,0.1,0,0,0})

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]}

◆ inverseKinematicsAll()

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]}

◆ inverseKinematicsAll1()

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]}

◆ inverseToolKinematics()

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 -1 - 机械臂状态不对(未初始化完成，可尝试再次调用) -5 - 输入的参考关节角或位姿无效(维度错误)

异常

arcs::common_interface::AuboException

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

Lua示例: joint, ik_result = inverseToolKinematics({0,0,0,0,0,0},{0.58815,0.0532,0.62391,2.46,0.479,1.619})

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]}

◆ inverseToolKinematicsAll()

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]}

◆ needVibrationRecalib()

int arcs::common_interface::RobotAlgorithm::needVibrationRecalib	(	const VibrationRecalibrationParameter &	param1,
		const VibrationRecalibrationParameter &	param2,
		double	threshold )

判断是否需要重新辨识振动参数

参数

param1	参考参数（如上一次辨识结果）
param2	当前参数（如新测量结果）
threshold	变化阈值（0~1），超过则需重新辨识

返回: >0 需要重新辨识，=0 不需要，<0 出错

Lua函数原型: needVibrationRecalib(param1: table, param2: table, threshold: number) -> number

JSON-RPC示例: {"jsonrpc":"2.0","method":"VibrationController.needVibrationRecalib", "params":[param1_obj, param2_obj, 0.1],"id":1}

◆ pathBlend3Points()

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 和 movej 1-movej 和 movel 2-movel 和 movej 3-movel 和 movel
q_start	交融前路径的起点
q_via	交融点
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

Lua示例: q_via , num = pathBlend3Points(1,{0.58815,0.0532,0.62391,2.46,0.479,1.619},{0.0,-0.2618,1.7453,0.4364,1.5711,0.0}, {0.3234,-0.5405,1.5403,0.5881,1.2962,0.7435},0.25,0.02)

◆ pathMovej()

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

Lua示例: path , num = pathMovej({0.0,-0.2618,1.7453,0.4364,1.5711,0.0},0.25,{0.3234,-0.5405,1.5403,0.5881,1.2962,0.7435},0.03,0.2)

◆ pathMoveS()

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

◆ payloadCalculateFinished()

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}

◆ payloadIdentify()

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

◆ payloadIdentify1()

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

◆ payloadIdentifyTrajGenFinished()

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}

◆ validatePath()

int arcs::common_interface::RobotAlgorithm::validatePath	(	int	type,
		const std::vector< double > &	start,
		double	r1,
		const std::vector< double > &	end,
		double	r2,
		double	d )

验证机器人运动路径从起点到终点的可达性

该接口通过采样的方式验证指定路径是否存在超限、自碰撞、奇异等不可达情况，支持关节角<->关节角、位姿<->位姿两种路径类型验证。

参数

type	路径类型标识，用于指定起点和终点的数据类型： 0 - 起点：关节角，终点：关节角 1 - 起点：位姿，终点：位姿
start	路径起点数据
r1	起点交融半径，单位：m（米）
end	路径终点数据
r2	终点交融半径，单位：m（米）
d	路径采样间隔，单位：m（米），间隔越小验证精度越高，但耗时越长

返回: 路径可达性结果码： 0 - 可达：路径无异常，可正常运动 -18 - 路径中存在关节超限/笛卡尔空间超限 -21 - 轨迹生成失败 -22 - 路径中机器人本体发生自碰撞 -24 - 路径中经过机器人奇异位形 -27 - 目标点有解但超出关节限位

异常

arcs::common_interface::AuboException

Lua函数原型: validatePath(type, start, r1, end, r2, d) -> number

Lua示例: – 验证6轴机器人关节角到关节角的路径可达性 local start_joint = {0.0, 0.0, 90.0, 0.0, 90.0, 0.0} – 关节角（单位：度） local end_joint = {30.0, 0.0, 90.0, 0.0, 90.0, 0.0} local result = validatePath(0, start_joint, 0.01, end_joint, 0.01, 0.05)

Python函数原型: validatePath(type: int, start: list[float], r1: float, end: list[float], r2: float, d: float) -> int

Python示例

验证6轴机器人关节角到位姿的路径可达性

start_joint = [0.0, 0.0, math.pi/2, 0.0, math.pi/2, 0.0] end_pose = [0.5, 0.2, 0.8, 0.0, math.pi/2, 0.0] result = validatePath(1, start_joint, 0.01, end_pose, 0.01, 0.05)

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.validatePath","params":[0, [0.0,0.0,1.57,0.0,1.57,0.0], 0.01, [0.52,0.0,1.57,0.0,1.57,0.0], 0.01, 0.05],"id":1}

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

类成员变量说明

◆ d_

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

protected

在文件 robot_algorithm.h 第 1659 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

◆ RobotAlgorithm()

◆ ~RobotAlgorithm()

成员函数说明

◆ calcJacobian()

◆ calibrateTcpForceSensor()

◆ calibrateTcpForceSensor2()

◆ calibrateTcpForceSensor3()

◆ calibVibrationParams()

◆ calibVibrationParams1()

◆ calibWorkpieceCoordinatePara()

◆ forwardDynamics()

◆ forwardDynamics1()

◆ forwardKinematics()

◆ forwardKinematics1()

◆ forwardKinematicsAll()

◆ forwardToolKinematics()

◆ frictionModelIdentify()

◆ generatePayloadIdentifyTraj()

◆ getPayloadIdentifyResult()

◆ getRobotConfiguration()

◆ inverseKinematics()

◆ inverseKinematics1()

◆ inverseKinematicsAll()

◆ inverseKinematicsAll1()

◆ inverseToolKinematics()

◆ inverseToolKinematicsAll()

◆ needVibrationRecalib()

◆ pathBlend3Points()

◆ pathMovej()

◆ pathMoveS()

◆ payloadCalculateFinished()

◆ payloadIdentify()

◆ payloadIdentify1()

◆ payloadIdentifyTrajGenFinished()

◆ validatePath()

验证6轴机器人关节角到位姿的路径可达性

类成员变量说明

◆ d_