#include <robot_config.h>

Public 成员函数
	RobotConfig ()

virtual	~RobotConfig ()

std::string	getName ()
	获取机器人的名字

int	getDof ()
	获取机器人的自由度(从硬件抽象层读取)

double	getCycletime ()
	获取机器人的伺服控制周期(从硬件抽象层读取)

int	setSlowDownFraction (int level, double fraction)
	预设缓速模式下的速度缩减比例

double	getSlowDownFraction (int level)
	获取预设的缓速模式下的速度缩减比例

double	getDefaultToolAcc ()
	获取默认的工具端加速度，单位m/s^2

double	getDefaultToolSpeed ()
	获取默认的工具端速度，单位m/s

double	getDefaultJointAcc ()
	获取默认的关节加速度，单位rad/s^2

double	getDefaultJointSpeed ()
	获取默认的关节速度，单位rad/s

std::string	getRobotType ()
	获取机器人类型代码

std::string	getRobotSubType ()
	获取机器人子类型代码

std::string	getControlBoxType ()
	获取控制柜类型代码

int	setMountingPose (const std::vector< double > &pose)
	设置安装位姿(机器人的基坐标系相对于世界坐标系) world->base

std::vector< double >	getMountingPose ()
	获取安装位姿(机器人的基坐标系相对于世界坐标系)

int	setCollisionLevel (int level)
	设置碰撞灵敏度等级数值越大越灵敏

int	getCollisionLevel ()
	获取碰撞灵敏度等级

int	setCollisionStopType (int type)
	设置碰撞停止类型

int	getCollisionStopType ()
	获取碰撞停止类型

int	setHomePosition (const std::vector< double > &positions)
	设置机器人的原点位置

std::vector< double >	getHomePosition ()
	获取机器人的原点位置

int	setFreedriveDamp (const std::vector< double > &damp)
	设置拖动阻尼

std::vector< double >	getFreedriveDamp ()
	获取拖动阻尼

std::unordered_map< std::string, std::vector< double > >	getKinematicsParam (bool real)
	获取机器人DH参数 alpha a d theta beta

std::unordered_map< std::string, std::vector< double > >	getKinematicsCompensate (double ref_temperature)
	获取指定温度下的DH参数补偿值:alpha a d theta beta

int	setKinematicsCompensate (const std::unordered_map< std::string, std::vector< double > > &param)
	设置标准 DH 补偿到机器人

int	setPersistentParameters (const std::string &param)
	设置需要保存到接口板底座的参数

int	setHardwareCustomParameters (const std::string &param)
	设置硬件抽象层自定义参数目的是为了做不同硬件之间的兼容

std::string	getHardwareCustomParameters (const std::string &param)
	获取硬件抽象层自定义参数

int	setRobotZero ()
	设置机器人关节零位

std::vector< std::string >	getTcpForceSensorNames ()
	获取可用的末端力矩传感器的名字

int	selectTcpForceSensor (const std::string &name)
	设置末端力矩传感器如果存在内置的末端力矩传感器，默认将使用内置的力矩传感器

int	setTcpForceSensorPose (const std::vector< double > &sensor_pose)
	设置传感器安装位姿

std::vector< double >	getTcpForceSensorPose ()
	获取传感器安装位姿

bool	hasTcpForceSensor ()
	是否安装了末端力矩传感器

int	setTcpForceOffset (const std::vector< double > &force_offset)
	设置末端力矩偏移

std::vector< double >	getTcpForceOffset ()
	获取末端力矩偏移

std::vector< std::string >	getBaseForceSensorNames ()
	获取可用的底座力矩传感器的名字

int	selectBaseForceSensor (const std::string &name)
	设置底座力矩传感器如果存在内置的底座力矩传感器，默认将使用内置的力矩传感器

bool	hasBaseForceSensor ()
	是否安装了底座力矩传感器

int	setBaseForceOffset (const std::vector< double > &force_offset)
	设置底座力矩偏移

std::vector< double >	getBaseForceOffset ()
	获取底座力矩偏移

uint32_t	getSafetyParametersCheckSum ()
	获取安全参数校验码 CRC32

int	confirmSafetyParameters (const RobotSafetyParameterRange &parameters)
	发起确认安全配置参数请求: 将安全配置参数写入到安全接口板flash或文件

uint32_t	calcSafetyParametersCheckSum (const RobotSafetyParameterRange &parameters)
	计算安全参数的 CRC32 校验值

std::vector< double >	getJointMaxPositions ()
	获取关节最大位置（物理极限）

std::vector< double >	getJointMinPositions ()
	获取关节最小位置（物理极限）

std::vector< double >	getJointMaxSpeeds ()
	获取关节最大速度（物理极限）

std::vector< double >	getJointMaxAccelerations ()
	获取关节最大加速度（物理极限）

std::vector< double >	getTcpMaxSpeeds ()
	获取TCP最大速度（物理极限）

std::vector< double >	getTcpMaxAccelerations ()
	获取TCP最大加速度（物理极限）

int	setGravity (const std::vector< double > &gravity)
	设置机器人安装姿态

std::vector< double >	getGravity ()
	获取机器人的安装姿态

int	setTcpOffset (const std::vector< double > &offset)
	设置当前的TCP偏移

std::vector< double >	getTcpOffset ()
	获取当前的TCP偏移

int	setToolInertial (double m, const std::vector< double > &com, const std::vector< double > &inertial)
	设置工具端质量、质心及惯量

int	setPayload (double m, const std::vector< double > &cog, const std::vector< double > &aom, const std::vector< double > &inertia)
	设置有效负载

Payload	getPayload ()
	获取有效负载

bool	toolSpaceInRange (const std::vector< double > &pose)
	末端位姿是否在安全范围之内

int	firmwareUpdate (const std::string &fw)
	发起固件升级请求，控制器软件将进入固件升级模式

std::tuple< std::string, double >	getFirmwareUpdateProcess ()
	获取当前的固件升级的进程

std::vector< double >	getLimitJointMaxPositions ()
	获取关节最大位置（当前正在使用的限制值）

std::vector< double >	getLimitJointMinPositions ()
	获取关节最小位置（当前正在使用的限制值）

std::vector< double >	getLimitJointMaxSpeeds ()
	获取关节最大速度（当前正在使用的限制值）

std::vector< double >	getLimitJointMaxAccelerations ()
	获取关节最大加速度（当前正在使用的限制值）

double	getLimitTcpMaxSpeed ()
	获取TCP最大速度（当前正在使用的限制值）

SafeguedStopType	getSafeguardStopType ()
	获取当前安全停止的类型

int	getSafeguardStopSource ()
	按位获取完整的安全停止触发源

Protected 属性
void *	d_

详细描述

在文件 robot_config.h 第 16 行定义.

构造及析构函数说明

◆ RobotConfig()

arcs::common_interface::RobotConfig::RobotConfig ( )

◆ ~RobotConfig()

virtual arcs::common_interface::RobotConfig::~RobotConfig ( )

virtual

成员函数说明

◆ calcSafetyParametersCheckSum()

uint32_t arcs::common_interface::RobotConfig::calcSafetyParametersCheckSum ( const RobotSafetyParameterRange & parameters )

计算安全参数的 CRC32 校验值

返回: crc32

异常

arcs::common_interface::AuboException

◆ confirmSafetyParameters()

int arcs::common_interface::RobotConfig::confirmSafetyParameters ( const RobotSafetyParameterRange & parameters )

发起确认安全配置参数请求: 将安全配置参数写入到安全接口板flash或文件

参数

parameters 安全配置参数

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

Python函数原型: confirmSafetyParameters(self: pyaubo_sdk.RobotConfig, arg0: arcs::common_interface::RobotSafetyParameterRange) -> int

Lua函数原型

◆ firmwareUpdate()

int arcs::common_interface::RobotConfig::firmwareUpdate ( const std::string & fw )

发起固件升级请求，控制器软件将进入固件升级模式

参数

fw 固件升级路径。该路径的格式为: 固件安装包路径#升级节点列表。其中固件安装包路径和升级节点列表以井号(#)分隔，升级节点以逗号(,)分隔。如果节点名称后带有!，则表示强制(不带版本校验)升级该节点；反之，则表示带校验版本地升级节点，即在升级该节点前，会先判断当前版本和目标版本是否相同，如果相同就不升级该节点。
可以根据实际需求灵活设置需要升级的节点。
例如， /tmp/firmware_update-1.0.42-rc.5+2347b0d.firm#master_mcu!,slace_mcu!, base!,tool!,joint1!,joint2!,joint3!,joint4!,joint5!,joint6! 表示强制升级接口板主板、接口板从板、基座、工具和6个关节（joint1至joint6）。
all表示所有的节点，例如 /tmp/firm_XXX.firm#all 表示带校验版本地升级全部节点， /tmp/firm_XXX.firm#all！表示强制升级全部节点

返回: 指令下发成功返回0; 失败返回错误码。
-AUBO_BAD_STATE: 运行时(RuntimeMachine)的当前状态不是Stopped, 固件升级请求被拒绝。AUBO_BAD_STATE的值是1。
-AUBO_TIMEOUT: 超时。AUBO_TIMEOUT的值是4。

异常

arcs::common_interface::AuboException

Python函数原型: firmwareUpdate(self: pyaubo_sdk.RobotConfig, arg0: str) -> int

Lua函数原型: firmwareUpdate(fw: string) -> nil

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotConfig.firmwareUpdate","params":["/tmp/firmware_update-1.0.42-rc.12+3e33eac.firm#master_mcu"],"id":1}

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

◆ getBaseForceOffset()

std::vector< double > arcs::common_interface::RobotConfig::getBaseForceOffset ( )

获取底座力矩偏移

返回: 返回底座力矩偏移

异常

arcs::common_interface::AuboException

Python函数原型: getBaseForceOffset(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getBaseForceOffset() -> table

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

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

◆ getBaseForceSensorNames()

std::vector< std::string > arcs::common_interface::RobotConfig::getBaseForceSensorNames ( )

获取可用的底座力矩传感器的名字

返回: 返回可用的底座力矩传感器的名字

异常

arcs::common_interface::AuboException

Python函数原型: getBaseForceSensorNames(self: pyaubo_sdk.RobotConfig) -> List[str]

Lua函数原型: getBaseForceSensorNames() -> table

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

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

◆ getCollisionLevel()

int arcs::common_interface::RobotConfig::getCollisionLevel ( )

获取碰撞灵敏度等级

返回: 碰撞灵敏度等级

异常

arcs::common_interface::AuboException

Python函数原型: getCollisionLevel(self: pyaubo_sdk.RobotConfig) -> int

Lua函数原型: getCollisionLevel() -> number

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":6}

◆ getCollisionStopType()

int arcs::common_interface::RobotConfig::getCollisionStopType ( )

获取碰撞停止类型

返回: 返回碰撞停止类型
0: 碰撞后浮动，即碰撞之后进入拖动示教模式
1: 碰撞后静止
2: 碰撞后抱闸

异常

arcs::common_interface::AuboException

Python函数原型: getCollisionStopType(self: pyaubo_sdk.RobotConfig) -> int

Lua函数原型: getCollisionStopType() -> number

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

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

◆ getControlBoxType()

std::string arcs::common_interface::RobotConfig::getControlBoxType ( )

获取控制柜类型代码

返回: 控制柜类型代码

异常

arcs::common_interface::AuboException

Python函数原型: getControlBoxType(self: pyaubo_sdk.RobotConfig) -> str

Lua函数原型: getControlBoxType() -> string

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

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

◆ getCycletime()

double arcs::common_interface::RobotConfig::getCycletime ( )

获取机器人的伺服控制周期(从硬件抽象层读取)

返回: 机器人的伺服控制周期

异常

arcs::common_interface::AuboException

Python函数原型: getCycletime(self: pyaubo_sdk.RobotConfig) -> float

Lua函数原型: getCycletime() -> number

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0.005}

◆ getDefaultJointAcc()

double arcs::common_interface::RobotConfig::getDefaultJointAcc ( )

获取默认的关节加速度，单位rad/s^2

返回: 默认的关节加速度

异常

arcs::common_interface::AuboException

Python函数原型: getDefaultJointAcc(self: pyaubo_sdk.RobotConfig) -> float

Lua函数原型: getDefaultJointAcc() -> number

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

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

◆ getDefaultJointSpeed()

double arcs::common_interface::RobotConfig::getDefaultJointSpeed ( )

获取默认的关节速度，单位rad/s

返回: 默认的关节速度

异常

arcs::common_interface::AuboException

Python函数原型: getDefaultJointSpeed(self: pyaubo_sdk.RobotConfig) -> float

Lua函数原型: getDefaultJointSpeed() -> number

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

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

◆ getDefaultToolAcc()

double arcs::common_interface::RobotConfig::getDefaultToolAcc ( )

获取默认的工具端加速度，单位m/s^2

返回: 默认的工具端加速度

异常

arcs::common_interface::AuboException

Python函数原型: getDefaultToolAcc(self: pyaubo_sdk.RobotConfig) -> float

Lua函数原型: getDefaultToolAcc() -> number

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

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

◆ getDefaultToolSpeed()

double arcs::common_interface::RobotConfig::getDefaultToolSpeed ( )

获取默认的工具端速度，单位m/s

返回: 默认的工具端速度

异常

arcs::common_interface::AuboException

Python函数原型: getDefaultToolSpeed(self: pyaubo_sdk.RobotConfig) -> float

Lua函数原型: getDefaultToolSpeed() -> number

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

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

◆ getDof()

int arcs::common_interface::RobotConfig::getDof ( )

获取机器人的自由度(从硬件抽象层读取)

返回: 返回机器人的自由度

异常

arcs::common_interface::AuboException

Python函数原型: getDof(self: pyaubo_sdk.RobotConfig) -> int

Lua函数原型: getDof() -> number

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":6}

◆ getFirmwareUpdateProcess()

std::tuple< std::string, double > arcs::common_interface::RobotConfig::getFirmwareUpdateProcess ( )

获取当前的固件升级的进程

返回: 当前的固件升级进程。
第一个元素表示步骤名称。如果是failed，则表示固件升级失败
第二个元素表示升级的进度(0~1)，完成之后，返回("", 1)

异常

arcs::common_interface::AuboException

Python函数原型: getFirmwareUpdateProcess(self: pyaubo_sdk.RobotConfig) -> Tuple[str, float]

Lua函数原型: getFirmwareUpdateProcess() -> table

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

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

◆ getFreedriveDamp()

std::vector< double > arcs::common_interface::RobotConfig::getFreedriveDamp ( )

获取拖动阻尼

返回: 拖动阻尼

异常

arcs::common_interface::AuboException

Python函数原型: getFreedriveDamp(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getFreedriveDamp() -> table

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[0.5,0.5,0.5,0.5,0.5,0.5]}

◆ getGravity()

std::vector< double > arcs::common_interface::RobotConfig::getGravity ( )

获取机器人的安装姿态

如果机器人底座安装了姿态传感器，则从传感器读取数据，否则按照用户设置

返回: 返回安装姿态

异常

arcs::common_interface::AuboException

Python函数原型: getGravity(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getGravity() -> table

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,-9.87654321]}

◆ getHardwareCustomParameters()

std::string arcs::common_interface::RobotConfig::getHardwareCustomParameters ( const std::string & param )

获取硬件抽象层自定义参数

参数

return 返回硬件抽象层自定义的参数

异常

arcs::common_interface::AuboException

◆ getHomePosition()

std::vector< double > arcs::common_interface::RobotConfig::getHomePosition ( )

获取机器人的原点位置

返回

异常

arcs::common_interface::AuboException

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[0.0,-0.2617993877991494,1.74532925199433,0.4363323129985824,1.570796326794897,0.0]}

◆ getJointMaxAccelerations()

std::vector< double > arcs::common_interface::RobotConfig::getJointMaxAccelerations ( )

获取关节最大加速度（物理极限）

返回: 返回关节最大加速度

异常

arcs::common_interface::AuboException

Python函数原型: getJointMaxAccelerations(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getJointMaxAccelerations() -> table

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[31.104877758314785,31.104877758314785,31.104877758314785,20.73625684294463,20.73625684294463,20.73625684294463]}

◆ getJointMaxPositions()

std::vector< double > arcs::common_interface::RobotConfig::getJointMaxPositions ( )

获取关节最大位置（物理极限）

返回: 返回关节最大位置

异常

arcs::common_interface::AuboException

Python函数原型: getJointMaxPositions(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getJointMaxPositions() -> table

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[6.283185307179586,6.283185307179586,6.283185307179586,6.283185307179586,6.283185307179586,6.283185307179586]}

◆ getJointMaxSpeeds()

std::vector< double > arcs::common_interface::RobotConfig::getJointMaxSpeeds ( )

获取关节最大速度（物理极限）

返回: 返回关节最大速度

异常

arcs::common_interface::AuboException

Python函数原型: getJointMaxSpeeds(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getJointMaxSpeeds() -> table

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[3.892084231947355,3.892084231947355,3.892084231947355,3.1066860685499065,3.1066860685499065,3.1066860685499065]}

◆ getJointMinPositions()

std::vector< double > arcs::common_interface::RobotConfig::getJointMinPositions ( )

获取关节最小位置（物理极限）

返回: 返回关节最小位置

异常

arcs::common_interface::AuboException

Python函数原型: getJointMinPositions(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getJointMinPositions() -> table

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[-6.283185307179586,-6.283185307179586,-6.283185307179586,-6.283185307179586,-6.283185307179586,-6.283185307179586]}

◆ getKinematicsCompensate()

std::unordered_map< std::string, std::vector< double > > arcs::common_interface::RobotConfig::getKinematicsCompensate ( double ref_temperature )

获取指定温度下的DH参数补偿值:alpha a d theta beta

参数

ref_temperature 参考温度 ℃，默认20℃

返回: 返回DH参数补偿值

异常

arcs::common_interface::AuboException

Python函数原型: getKinematicsCompensate(self: pyaubo_sdk.RobotConfig, arg0: float) -> Dict[str, List[float]]

Lua函数原型: getKinematicsCompensate(ref_temperature: number) -> table

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getKinematicsCompensate","params":[20],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":{"a":[0.0,-0.0001255999959539622,0.0006348000024445355,-0.0002398000069661066,-0.00018950000230688602,3.7000001611886546e-05], "alpha":[0.0,0.000678930024150759,0.002438219962641597,0.0049148499965667725,0.00048695001169107854,0.004321440123021603], "beta":[0.0,0.0,0.0,0.0,0.0,0.0],"d":[0.0,4.769999941345304e-05,-4.769999941345304e-05,4.769999941345304e-05,0.0003789000038523227,0.0], "theta":[0.0,0.0,0.0,0.0,0.0,0.0]}}

◆ getKinematicsParam()

std::unordered_map< std::string, std::vector< double > > arcs::common_interface::RobotConfig::getKinematicsParam ( bool real )

获取机器人DH参数 alpha a d theta beta

参数

real	读取真实参数(理论值+补偿值)或者理论参数

返回: 返回机器人DH参数

异常

arcs::common_interface::AuboException

Python函数原型: getKinematicsParam(self: pyaubo_sdk.RobotConfig, arg0: bool) -> Dict[str, List[float]]

Lua函数原型: getKinematicsParam(real: boolean) -> table

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":{"a":[0.0,-0.0001255999959539622,0.4086348000024445,0.3757601999930339,-0.00018950000230688602,3.7000001611886546e-05], "alpha":[0.0,-1.5701173967707458,3.1440308735524347,3.14650750358636,-1.5703093767832055,1.5751177669179182],"beta":[0.0,0.0,0.0,0.0,0.0,0.0], "d":[0.122,0.12154769999941345,-4.769999941345304e-05,4.769999941345304e-05,0.10287890000385232,0.116], "theta":[3.141592653589793,-1.5707963267948966,0.0,-1.5707963267948966,0.0,0.0]}}

◆ getLimitJointMaxAccelerations()

std::vector< double > arcs::common_interface::RobotConfig::getLimitJointMaxAccelerations ( )

获取关节最大加速度（当前正在使用的限制值）

返回: 返回关节最大加速度（当前正在使用的限制值）

异常

arcs::common_interface::AuboException

Python函数原型: getLimitJointMaxAccelerations(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getLimitJointMaxAccelerations() -> table

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[31.104877758314785,31.104877758314785,31.104877758314785,20.73625684294463,20.73625684294463,20.73625684294463]}

◆ getLimitJointMaxPositions()

std::vector< double > arcs::common_interface::RobotConfig::getLimitJointMaxPositions ( )

获取关节最大位置（当前正在使用的限制值）

返回: 返回关节最大位置（当前正在使用的限制值）

异常

arcs::common_interface::AuboException

Python函数原型: getLimitJointMaxPositions(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getLimitJointMaxPositions() -> table

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[6.2831854820251465,6.2831854820251465,6.2831854820251465,6.2831854820251465,6.2831854820251465,6.2831854820251465]}

◆ getLimitJointMaxSpeeds()

std::vector< double > arcs::common_interface::RobotConfig::getLimitJointMaxSpeeds ( )

获取关节最大速度（当前正在使用的限制值）

返回: 返回关节最大速度（当前正在使用的限制值）

异常

arcs::common_interface::AuboException

Python函数原型: getLimitJointMaxSpeeds(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getLimitJointMaxSpeeds() -> table

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[3.8920841217041016,3.8920841217041016,3.8920841217041016,3.1066861152648926,3.1066861152648926,3.1066861152648926]}

◆ getLimitJointMinPositions()

std::vector< double > arcs::common_interface::RobotConfig::getLimitJointMinPositions ( )

获取关节最小位置（当前正在使用的限制值）

返回: 返回关节最小位置（当前正在使用的限制值）

异常

arcs::common_interface::AuboException

Python函数原型: getLimitJointMinPositions(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getLimitJointMinPositions() -> table

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[-6.2831854820251465,-6.2831854820251465,-6.2831854820251465,-6.2831854820251465,-6.2831854820251465,-6.2831854820251465]}

◆ getLimitTcpMaxSpeed()

double arcs::common_interface::RobotConfig::getLimitTcpMaxSpeed ( )

获取TCP最大速度（当前正在使用的限制值）

返回: 返回TCP最大速度（当前正在使用的限制值）

异常

arcs::common_interface::AuboException

Python函数原型: getLimitTcpMaxSpeed(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getLimitTcpMaxSpeed() -> table

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

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

◆ getMountingPose()

std::vector< double > arcs::common_interface::RobotConfig::getMountingPose ( )

获取安装位姿(机器人的基坐标系相对于世界坐标系)

返回: 安装位姿

异常

arcs::common_interface::AuboException

Python函数原型: getMountingPose(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getMountingPose() -> table

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

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

◆ getName()

std::string arcs::common_interface::RobotConfig::getName ( )

获取机器人的名字

返回: 返回机器人的名字

异常

arcs::common_interface::AuboException

Python函数原型: getName(self: pyaubo_sdk.RobotConfig) -> str

Lua函数原型: getName() -> string

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":"rob1"}

◆ getPayload()

Payload arcs::common_interface::RobotConfig::getPayload ( )

获取有效负载

返回: 有效负载. 第一个元素表示质量, 单位: kg; 第二个元素表示重心, 单位: m, 形式为(CoGx, CoGy, CoGz); 第三个元素表示力矩轴的方向, 单位: rad, 形式为(rx, ry, rz); 第四个元素表示惯量, 单位: kg*m^2, 形式为(Ixx, Ixy, Ixz, Iyx, Iyy, Iyz, Izx, Izy, Izz)

异常

arcs::common_interface::AuboException

Python函数原型: getPayload(self: pyaubo_sdk.RobotConfig) -> Tuple[float, List[float], List[float], List[float]]

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

Lua示例: m, cog, aom, inertia = getPayload()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[3.0,[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]]}

◆ getRobotSubType()

std::string arcs::common_interface::RobotConfig::getRobotSubType ( )

获取机器人子类型代码

返回: 机器人子类型代码

异常

arcs::common_interface::AuboException

Python函数原型: getRobotSubType(self: pyaubo_sdk.RobotConfig) -> str

Lua函数原型: getRobotSubType() -> string

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":"B0"}

◆ getRobotType()

std::string arcs::common_interface::RobotConfig::getRobotType ( )

获取机器人类型代码

返回: 机器人类型代码

异常

arcs::common_interface::AuboException

Python函数原型: getRobotType(self: pyaubo_sdk.RobotConfig) -> str

Lua函数原型: getRobotType() -> string

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":"aubo_i5H"}

◆ getSafeguardStopSource()

int arcs::common_interface::RobotConfig::getSafeguardStopSource ( )

按位获取完整的安全停止触发源

返回: 返回所有安全停止触发源

安全停止的原因: 手动模式下可配置安全IO触发的安全停止 - 1<<0 自动模式下可配置安全IO触发的安全停止 - 1<<1 控制柜SI输入触发的安全停止 - 1<<2 示教器三态开关触发的安全停止 - 1<<3 自动切手动触发的安全停止 - 1<<4

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

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

◆ getSafeguardStopType()

SafeguedStopType arcs::common_interface::RobotConfig::getSafeguardStopType ( )

获取当前安全停止的类型

返回: 返回当前安全停止的类型

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":"None"}

◆ getSafetyParametersCheckSum()

uint32_t arcs::common_interface::RobotConfig::getSafetyParametersCheckSum ( )

获取安全参数校验码 CRC32

返回: 返回安全参数校验码

异常

arcs::common_interface::AuboException

Python函数原型: getSafetyParametersCheckSum(self: pyaubo_sdk.RobotConfig) -> int

Lua函数原型: getSafetyParametersCheckSum() -> number

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":2033397241}

◆ getSlowDownFraction()

double arcs::common_interface::RobotConfig::getSlowDownFraction ( int level )

获取预设的缓速模式下的速度缩减比例

参数

level 缓速等级 1, 2

返回: 返回预设的缓速模式下的速度缩减比例

异常

arcs::common_interface::AuboException

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0.5}

◆ getTcpForceOffset()

std::vector< double > arcs::common_interface::RobotConfig::getTcpForceOffset ( )

获取末端力矩偏移

返回: 返回末端力矩偏移

异常

arcs::common_interface::AuboException

Python函数原型: getTcpForceOffset(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getTcpForceOffset() -> table

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

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

◆ getTcpForceSensorNames()

std::vector< std::string > arcs::common_interface::RobotConfig::getTcpForceSensorNames ( )

获取可用的末端力矩传感器的名字

返回: 返回可用的末端力矩传感器的名字

异常

arcs::common_interface::AuboException

Python函数原型: getTcpForceSensorNames(self: pyaubo_sdk.RobotConfig) -> List[str]

Lua函数原型: getTcpForceSensorNames() -> table

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

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

◆ getTcpForceSensorPose()

std::vector< double > arcs::common_interface::RobotConfig::getTcpForceSensorPose ( )

获取传感器安装位姿

返回: 传感器安装位姿

异常

arcs::common_interface::AuboException

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

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

◆ getTcpMaxAccelerations()

std::vector< double > arcs::common_interface::RobotConfig::getTcpMaxAccelerations ( )

获取TCP最大加速度（物理极限）

返回: 返回TCP最大加速度

异常

arcs::common_interface::AuboException

Python函数原型: getTcpMaxAccelerations(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getTcpMaxAccelerations() -> table

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[10.0,10.0]}

◆ getTcpMaxSpeeds()

std::vector< double > arcs::common_interface::RobotConfig::getTcpMaxSpeeds ( )

获取TCP最大速度（物理极限）

返回: 返回TCP最大速度

异常

arcs::common_interface::AuboException

Python函数原型: getTcpMaxSpeeds(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getTcpMaxSpeeds() -> table

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[2.0,5.0]}

◆ getTcpOffset()

std::vector< double > arcs::common_interface::RobotConfig::getTcpOffset ( )

获取当前的TCP偏移

TCP偏移表示形式为(x,y,z,rx,ry,rz)。其中x、y、z是工具中心点（TCP）在基坐标系下相对于法兰盘中心的位置偏移，单位是m。 rx、ry、rz是工具中心点（TCP）在基坐标系下相对于法兰盘中心的的姿态偏移，是ZYX欧拉角，单位是rad。

返回: 当前的TCP偏移,形式为(x,y,z,rx,ry,rz)

异常

arcs::common_interface::AuboException

Python函数原型: getTcpOffset(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua函数原型: getTcpOffset() -> table

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

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

◆ hasBaseForceSensor()

bool arcs::common_interface::RobotConfig::hasBaseForceSensor ( )

是否安装了底座力矩传感器

返回: 安装返回true;没有安装返回false

异常

arcs::common_interface::AuboException

Python函数原型: hasBaseForceSensor(self: pyaubo_sdk.RobotConfig) -> bool

Lua函数原型: hasBaseForceSensor() -> boolean

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

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

◆ hasTcpForceSensor()

bool arcs::common_interface::RobotConfig::hasTcpForceSensor ( )

是否安装了末端力矩传感器

返回: 安装返回true; 没有安装返回false

异常

arcs::common_interface::AuboException

Python函数原型: hasTcpForceSensor(self: pyaubo_sdk.RobotConfig) -> bool

Lua函数原型: hasTcpForceSensor() -> boolean

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

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

◆ selectBaseForceSensor()

int arcs::common_interface::RobotConfig::selectBaseForceSensor ( const std::string & name )

设置底座力矩传感器如果存在内置的底座力矩传感器，默认将使用内置的力矩传感器

参数

name	底座力矩传感器的名字

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

Python函数原型: selectBaseForceSensor(self: pyaubo_sdk.RobotConfig, arg0: str) -> int

Lua函数原型: selectBaseForceSensor(name: string) -> nil

◆ selectTcpForceSensor()

int arcs::common_interface::RobotConfig::selectTcpForceSensor ( const std::string & name )

设置末端力矩传感器如果存在内置的末端力矩传感器，默认将使用内置的力矩传感器

参数

name	末端力矩传感器的名字

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

Python函数原型: selectTcpForceSensor(self: pyaubo_sdk.RobotConfig, arg0: str) -> int

Lua函数原型: selectTcpForceSensor(name: string) -> nil

◆ setBaseForceOffset()

int arcs::common_interface::RobotConfig::setBaseForceOffset ( const std::vector< double > & force_offset )

设置底座力矩偏移

参数

force_offset 底座力矩偏移

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

Python函数原型: setBaseForceOffset(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua函数原型: setBaseForceOffset(force_offset: table) -> nil

◆ setCollisionLevel()

int arcs::common_interface::RobotConfig::setCollisionLevel ( int level )

设置碰撞灵敏度等级数值越大越灵敏

参数

level 碰撞灵敏度等级 0: 关闭碰撞检测功能 1~9: 碰撞灵敏等级

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

Python函数原型: setCollisionLevel(self: pyaubo_sdk.RobotConfig, arg0: int) -> int

Lua函数原型: setCollisionLevel(level: number) -> nil

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setCollisionLevel","params":[6],"id":1}

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

◆ setCollisionStopType()

int arcs::common_interface::RobotConfig::setCollisionStopType ( int type )

设置碰撞停止类型

参数

type	类型 0: 碰撞后浮动，即碰撞之后进入拖动示教模式 1: 碰撞后静止 2: 碰撞后抱闸

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

Python函数原型: setCollisionStopType(self: pyaubo_sdk.RobotConfig, arg0: int) -> int

Lua函数原型: setCollisionStopType(type: number) -> nil

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

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

◆ setFreedriveDamp()

int arcs::common_interface::RobotConfig::setFreedriveDamp ( const std::vector< double > & damp )

设置拖动阻尼

参数

damp 阻尼

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

Python函数原型: setFreedriveDamp(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua函数原型: setFreedriveDamp(damp: table) -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setFreedriveDamp","params":[[0.5,0.5,0.5,0.5,0.5,0.5]],"id":1}

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

◆ setGravity()

int arcs::common_interface::RobotConfig::setGravity ( const std::vector< double > & gravity )

设置机器人安装姿态

参数

gravity 安装姿态

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

Python函数原型: setGravity(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua函数原型: setGravity(gravity: table) -> nil

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setGravity","params":[[0.0,0.0,-9.87654321]],"id":1}

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

◆ setHardwareCustomParameters()

int arcs::common_interface::RobotConfig::setHardwareCustomParameters ( const std::string & param )

设置硬件抽象层自定义参数目的是为了做不同硬件之间的兼容

参数

param 自定义参数

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

◆ setHomePosition()

int arcs::common_interface::RobotConfig::setHomePosition ( const std::vector< double > & positions )

设置机器人的原点位置

参数

positions 关节角度

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

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setHomePosition","params":[[0.0,-0.2617993877991494,1.74532925199433,0.4363323129985824,1.570796326794897,0.0]],"id":1}

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

◆ setKinematicsCompensate()

int arcs::common_interface::RobotConfig::setKinematicsCompensate ( const std::unordered_map< std::string, std::vector< double > > & param )

设置标准 DH 补偿到机器人

参数

param

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

◆ setMountingPose()

int arcs::common_interface::RobotConfig::setMountingPose ( const std::vector< double > & pose )

设置安装位姿(机器人的基坐标系相对于世界坐标系) world->base

一般在多机器人系统中使用，默认为 [0,0,0,0,0,0]

参数

pose 安装位姿

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

Python函数原型: setMountingPose(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua函数原型: setMountingPose(pose: table) -> nil

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setMountingPose","params":[[0.0,0.0,0.0,0.0,0.0,0.0]],"id":1}

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

◆ setPayload()

int arcs::common_interface::RobotConfig::setPayload	(	double	m,
		const std::vector< double > &	cog,
		const std::vector< double > &	aom,
		const std::vector< double > &	inertia
	)

设置有效负载

参数

m	质量, 单位: kg
cog	重心, 单位: m, 形式为(CoGx, CoGy, CoGz)
aom	力矩轴的方向, 单位: rad, 形式为(rx, ry, rz)
inertia	惯量, 单位: kg*m^2, 形式为(Ixx, Ixy, Ixz, Iyx, Iyy, Iyz, Izx, Izy, Izz)

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

Python函数原型: setPayload(self: pyaubo_sdk.RobotConfig, arg0: float, arg1: List[float], arg2: List[float], arg3: List[float]) -> int

Lua函数原型: setPayload(m: number, cog: table, aom: table, inertia: table) -> nil

Lua示例: setPayload(3, {0,0,0}, {0,0,0}, {0,0,0,0,0,0,0,0,0})

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setPayload","params":[3,[0,0,0],[0,0,0],[0,0,0,0,0,0,0,0,0]],"id":1}

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

◆ setPersistentParameters()

int arcs::common_interface::RobotConfig::setPersistentParameters ( const std::string & param )

设置需要保存到接口板底座的参数

参数

param 补偿数据

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

Python函数原型: setPersistentParameters(self: pyaubo_sdk.RobotConfig, arg0: str) -> int

Lua函数原型: setPersistentParameters(param: string) -> nil

◆ setRobotZero()

int arcs::common_interface::RobotConfig::setRobotZero ( )

设置机器人关节零位

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

异常

arcs::common_interface::AuboException

Python函数原型: setRobotZero(self: pyaubo_sdk.RobotConfig) -> int

Lua函数原型: setRobotZero() -> nil

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

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

◆ setSlowDownFraction()

int arcs::common_interface::RobotConfig::setSlowDownFraction	(	int	level,
		double	fraction
	)

预设缓速模式下的速度缩减比例

参数

level	缓速等级 1, 2
fraction

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

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setSlowDownFraction","params":[1,0.8],"id":1}

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

◆ setTcpForceOffset()

int arcs::common_interface::RobotConfig::setTcpForceOffset ( const std::vector< double > & force_offset )

设置末端力矩偏移

参数

force_offset 末端力矩偏移

返回: 成功返回0; 失败返回错误码

异常

arcs::common_interface::AuboException

Python函数原型: setTcpForceOffset(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua函数原型: setTcpForceOffset(force_offset: table) -> nil

◆ setTcpForceSensorPose()

int arcs::common_interface::RobotConfig::setTcpForceSensorPose ( const std::vector< double > & sensor_pose )

设置传感器安装位姿

参数

sensor_pose 传感器安装位姿

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

◆ setTcpOffset()

int arcs::common_interface::RobotConfig::setTcpOffset ( const std::vector< double > & offset )

设置当前的TCP偏移

TCP偏移表示形式为(x,y,z,rx,ry,rz)。其中x、y、z是工具中心点（TCP）在基坐标系下相对于法兰盘中心的位置偏移，单位是m。 rx、ry、rz是工具中心点（TCP）在基坐标系下相对于法兰盘中心的的姿态偏移，是ZYX欧拉角，单位是rad。

参数

offset 当前的TCP偏移,形式为(x,y,z,rx,ry,rz)

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

Python函数原型: setTcpOffset(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua函数原型: setTcpOffset(offset: table) -> nil

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setTcpOffset","params":[[0.0,0.0,0.0,0.0,0.0,0.0]],"id":1}

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

◆ setToolInertial()

int arcs::common_interface::RobotConfig::setToolInertial	(	double	m,
		const std::vector< double > &	com,
		const std::vector< double > &	inertial
	)

设置工具端质量、质心及惯量

参数

m	工具端质量
com	质心
inertial	惯量

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

Python函数原型: setToolInertial(self: pyaubo_sdk.RobotConfig, arg0: float, arg1: List[float], arg2: List[float]) -> int

Lua函数原型: setToolInertial(m: number, com: table, inertial: table) -> nil

◆ toolSpaceInRange()

bool arcs::common_interface::RobotConfig::toolSpaceInRange ( const std::vector< double > & pose )

末端位姿是否在安全范围之内

参数

pose 末端位姿

返回: 在安全范围内返回true; 反之返回false

异常

arcs::common_interface::AuboException

Python函数原型: toolSpaceInRange(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> bool

Lua函数原型: toolSpaceInRange(pose: table) -> boolean

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotConfig.toolSpaceInRange","params":[[0.58712, -0.15775, 0.48703, 2.76, 0.344, 1.432]],"id":1}

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

类成员变量说明

◆ d_

void* arcs::common_interface::RobotConfig::d_

protected

在文件 robot_config.h 第 1554 行定义.

该类的文档由以下文件生成:

include/aubo/robot/robot_config.h

Public 成员函数

Protected 属性

详细描述

构造及析构函数说明

◆ RobotConfig()

◆ ~RobotConfig()

成员函数说明

◆ calcSafetyParametersCheckSum()

◆ confirmSafetyParameters()

◆ firmwareUpdate()

◆ getBaseForceOffset()

◆ getBaseForceSensorNames()

◆ getCollisionLevel()

◆ getCollisionStopType()

◆ getControlBoxType()

◆ getCycletime()

◆ getDefaultJointAcc()

◆ getDefaultJointSpeed()

◆ getDefaultToolAcc()

◆ getDefaultToolSpeed()

◆ getDof()

◆ getFirmwareUpdateProcess()

◆ getFreedriveDamp()

◆ getGravity()

◆ getHardwareCustomParameters()

◆ getHomePosition()

◆ getJointMaxAccelerations()

◆ getJointMaxPositions()

◆ getJointMaxSpeeds()

◆ getJointMinPositions()

◆ getKinematicsCompensate()

◆ getKinematicsParam()

◆ getLimitJointMaxAccelerations()

◆ getLimitJointMaxPositions()

◆ getLimitJointMaxSpeeds()

◆ getLimitJointMinPositions()

◆ getLimitTcpMaxSpeed()

◆ getMountingPose()

◆ getName()

◆ getPayload()

◆ getRobotSubType()

◆ getRobotType()

◆ getSafeguardStopSource()

◆ getSafeguardStopType()

◆ getSafetyParametersCheckSum()

◆ getSlowDownFraction()

◆ getTcpForceOffset()

◆ getTcpForceSensorNames()

◆ getTcpForceSensorPose()

◆ getTcpMaxAccelerations()

◆ getTcpMaxSpeeds()

◆ getTcpOffset()

◆ hasBaseForceSensor()

◆ hasTcpForceSensor()

◆ selectBaseForceSensor()

◆ selectTcpForceSensor()

◆ setBaseForceOffset()

◆ setCollisionLevel()

◆ setCollisionStopType()

◆ setFreedriveDamp()

◆ setGravity()

◆ setHardwareCustomParameters()

◆ setHomePosition()

◆ setKinematicsCompensate()

◆ setMountingPose()

◆ setPayload()

◆ setPersistentParameters()

◆ setRobotZero()

◆ setSlowDownFraction()

◆ setTcpForceOffset()

◆ setTcpForceSensorPose()

◆ setTcpOffset()

◆ setToolInertial()

◆ toolSpaceInRange()

类成员变量说明

◆ d_