
机械臂
小弧光
这个作者很懒,什么都没留下…
展开
-
从ros parameter server 获取URDF
// get the general robot description, the lwr class will take care of parsing what’s useful to itself std::string urdf_string = getURDF(lwr_nh, “/robot_description”);// Get the URDF XML from the ...原创 2018-09-12 12:47:16 · 411 阅读 · 0 评论 -
python 发送blockly xml到blockly server,并产生python代码
#!/usr/bin/env pythonimport rospyimport subprocessimport socketimport osimport signalimport astHOST = '127.0.0.1'def cleanup_node_tcp_port(port_number): try: output = subprocess.check_...原创 2019-02-12 16:06:42 · 542 阅读 · 0 评论 -
Simple6DoFVer2.ino
/*Simple script to move my tiny 6dof robotic arm*/#include <math.h>#define PI 3.1415926535897932384626433832795//driver for the axis 1#define PUL1_PIN 39#define DIR1_PIN 37//driver for...转载 2019-02-13 10:30:45 · 805 阅读 · 0 评论 -
Simple6DoFVer1.2.ino
/*Simple script to move my tiny 6dof robotic arm*/#include <math.h>#define PI 3.1415926535897932384626433832795//driver for the axis 1#define PUL1_PIN 39#define DIR1_PIN 37//driver for...转载 2019-02-13 10:34:18 · 530 阅读 · 0 评论 -
高斯六轴机械臂画圆
#!/usr/bin/env python# Copyright (c) 2018 Pilz GmbH & Co. KG## This program is free software: you can redistribute it and/or modify# it under the terms of the GNU Lesser General Public Licens...原创 2019-03-19 15:33:53 · 2570 阅读 · 0 评论 -
手柄控制高斯机械臂
#!/usr/bin/env pythonimport rospy, actionlibfrom std_msgs.msg import Boolfrom sensor_msgs.msg import Joyfrom sensor_msgs.msg import JointStatefrom trajectory_msgs.msg import JointTrajectoryfr...原创 2019-03-19 15:55:33 · 1037 阅读 · 0 评论 -
pilz机械臂直线规划
bool TrajectoryGeneratorLIN::generate(const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, ...原创 2019-03-20 13:41:06 · 687 阅读 · 0 评论 -
Kinematics: Why Robots Move Like They Do
https://blog.robotiq.com/kinematics-why-robots-move-like-they-do原创 2019-03-27 09:58:02 · 307 阅读 · 0 评论 -
How to Calculate a Robot's Forward Kinematics in 5 Easy Steps
https://blog.robotiq.com/how-to-calculate-a-robots-forward-kinematics-in-5-easy-steps原创 2019-03-27 10:05:44 · 362 阅读 · 0 评论 -
执行blockly的python代码
class SequenceCodeExecutor: def __init__(self): self.blockly_dir = rospy.get_param("~sequence_code_to_execute_path") self.python_file = str(self.blockly_dir) + '/generated_code.py...原创 2019-02-12 15:32:29 · 1826 阅读 · 0 评论 -
blockly server 产生python代码
#!/usr/bin/env nodevar fs = require('fs');var net = require('net'); var Blockly = require('./gauss_python_generators').Blockly;Blockly.Python.STATEMENT_PREFIX = 'n.highlight_block(%1)\n';Block...原创 2019-02-12 15:24:22 · 1177 阅读 · 0 评论 -
KDL::ChainIdSolver_RNE gcSolver计算力矩
main.cpp文件:#include <kdl/chainfksolverpos_recursive.hpp>#include <kdl/chainidsolver_recursive_newton_euler.hpp>#include <kdl/tree.hpp>#include <kdl_parser/kdl_parser.hpp>...原创 2018-09-11 08:42:08 · 910 阅读 · 0 评论 -
rviz插件获取当前的执行进度代码
代码路径:moveit/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cppvoid TrajectoryVisualization::update(float wall_dt, float ros_dt){ if (drop_displaying_trajectory_) ...原创 2018-11-22 16:30:31 · 623 阅读 · 0 评论 -
通过rosbridge和roslibjs与 gauss 机械臂通信
let ROSLIB = require('roslib');import intl from 'react-intl-universal';import { isLegal } from './message.type'import { LocalStorage } from './localStorage'import { notification } from 'antd';le...原创 2019-02-12 11:59:42 · 2684 阅读 · 1 评论 -
通过rosbridge 修改 gauss 机械臂的末端工具
useActuator = (index) => { let indexNewForm = this.state.newForm[index] let network = new Networking(); let localStorage = new LocalStorage(); // 电磁铁,激光,直流电流(电磁铁...原创 2019-02-12 13:44:34 · 431 阅读 · 5 评论 -
gauss 机械臂自动校准和手动校准
自动校准://零点校准 calibration = () =&gt; { let network = new Networking(); network.callService( "/gauss/calibrate_motors", "gauss_msgs/SetInt", { value: 1 }, ...原创 2019-02-12 14:34:47 · 1089 阅读 · 0 评论 -
gauss 机械臂示教模式切换
//示教模式切换 teaching = value => { this.setState({ teachStatus: value }); let status; if (value) { status = 1; } else { status = 0; } let network = new...原创 2019-02-12 14:38:05 · 670 阅读 · 0 评论 -
获取gauss机械臂的当前状态
//获取当前参数 currentParameter = () =&gt; { let network = new Networking(); let sub = network.listen('/joint_states','sensor_msgs/JointState',(name , data) =&gt; { this.setState({ ...原创 2019-02-12 14:41:19 · 567 阅读 · 0 评论 -
Difference between plans obtained by CHOMP and OMPL
Optimizing planners optimize a cost function that may sometimes lead to surprising results: moving through a thin obstacle might be lower cost than a long, winding trajectory that avoids all collision...原创 2019-03-28 13:39:51 · 430 阅读 · 0 评论