睿尔曼超轻量仿人机械臂--医疗工作站运行Demo（Python）

一、Python语言开发环境

1.Win10系统下使用

        开发环境

        系统：win10

        IDE：PyCharm

        Python版本：python 3.11.2

     由于机械臂相关软件版本不定期更新，如果你使用的软件接口或协议与本文有出入，请联系官方技术人员及时更新。

 2.项目创建

      创建python文件，可以通过多种方式，本文中以Pycharm为示例。详述从项目创建到实际运行控制机械臂。

       创建Python项目。打开Pycharm软件，在右上角’File-->New Project’。打开新建项目界面，在界面中可选择项目路径及项目名称、Python版本等信息。最后点击界面右下角‘Create’按钮。

3.写入Python程序

      本文基于医疗工作站运行过程开发demo。将以下程序写入Python程序中即可。代码如下：

import socket
import time
import json

client1 = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

# 左臂
Lift = '192.168.1.18'

# 右臂
Right = '192.168.1.19'

# 打开控制器RS485
controller_modbus1 = '{"command":"set_modbus_mode","port":0,"baudrate":115200,"timeout":2}\r\n'

# 夹爪2初始化
gripper2_init = '{"command":"write_registers","port":0,"address":1000,"num":1,"data":[0,0],"device":9}\r\n'

# 夹爪2上使能
gripper2_activate = '{"command":"write_registers","port":0,"address":1000,"num":1,"data":[0,1],"device":9}\r\n'

# 夹爪2全速张开
gripper2_open = '{"command":"write_registers","port":0,"address":1000,"num":3,"data":[0, 9, 0, 0,255, 255],"device":9}\r\n'

# 夹爪2全速闭合
gripper2_close = '{"command":"write_registers","port":0,"address":1000,"num":1,"data":[4,11],"device":9}\r\n'

# 打开末端RS485
controller_modbus3 = '{"command":"set_modbus_mode","port":1,"baudrate":115200,"timeout ":2}\r\n'

# 夹爪1初始化
gripper1_init = '{"command":"write_registers","port":1,"address":1000,"num":2,"data":[0, 0, 0 ,0],"device":9}\r\n'

# 夹爪1上使能
gripper1_activate = '{"command":"write_registers","port":1,"address":1000,"num":2,"data":[0,1,0,1],"device":9}\r\n'

# 夹爪1旋转使能
gripper1_activate1 = '{"command":"write_registers","port":1,"addr