ur机械臂Python编程实践-优快云博客

本文分享了关于ur机械臂使用Python进行控制的脚本实例，详细解析了如何通过Python编程实现机械臂的运动控制，适合对ur机械臂和Python编程感兴趣的读者。

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def driverProg():
  HOSTNAME = "%(driver_hostname)s"
  PORT = %(driver_reverseport)d
  MSG_OUT = 1
  MSG_QUIT = 2
  MSG_JOINT_STATES = 3
  MSG_MOVEJ = 4
  MSG_WAYPOINT_FINISHED = 5
  MSG_STOPJ = 6
  MSG_SERVOJ = 7
  MSG_SET_PAYLOAD = 8
  MSG_WRENCH = 9
  MSG_SET_DIGITAL_OUT = 10
  MSG_GET_IO = 11
  MSG_SET_FLAG = 12
  MSG_SET_TOOL_VOLTAGE = 13
  MSG_SET_ANALOG_OUT = 14
  MULT_wrench = 10000.0
  MULT_payload = 1000.0
  MULT_jointstate = 10000.0
  MULT_time = 1000000.0
  MULT_blend = 1000.0
  MULT_analog = 1000000.0
  pi = 3.14159265359
  
  def send_out(msg):
    enter_critical
    socket_send_int(MSG_OUT)
    socket_send_string(msg)
    socket_send_string("~")
    exit_critical
  end
  
  def send_waypoint_finished(waypoint_id):
    enter_critical
    socket_send_int(MSG_WAYPOINT_FINISHED)
    socket_send_int(waypoint_id)
    exit_critical
  end

  
  SERVO_IDLE = 0
  SERVO_RUNNING = 1
  cmd_servo_state = SERVO_IDLE
  cmd_servo_id = 0  # 0 = idle, -1 = stop
  cmd_servo_q = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  cmd_servo_dt = 0.0
  def set_servo_setpoint(id, q, dt):
    enter_critical
    cmd_servo_state = SERVO_RUNNING
    cmd_servo_id = id
    cmd_servo_q = q
    cmd_servo_dt = dt
    exit_critical
  end
  thread servoThread():
    state = SERVO_IDLE
    whi