添加四个相机点位移动和一个归位按钮
This commit is contained in:
1
HitBotCSharpDemo/ShowForm.Designer.cs
generated
1
HitBotCSharpDemo/ShowForm.Designer.cs
generated
@@ -1009,6 +1009,7 @@
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this.init_pos_btn.TabIndex = 4;
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this.init_pos_btn.Text = "归位";
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this.init_pos_btn.UseVisualStyleBackColor = true;
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this.init_pos_btn.Click += new System.EventHandler(this.init_pos_btn_Click);
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//
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// cam_btn_4
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//
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@@ -1,12 +1,13 @@
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using System;
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using System.Drawing;
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using System.IO;
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using System.Threading;
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using System.Windows.Forms;
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using ControlBeanExDll;
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using TcpserverExDll;
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namespace HitBotCSharpDemo
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{
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{
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public partial class ShowForm : Form
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{
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Thread thread_Jog_Move;//创建按钮长按，连续移动模式的线程。 与点击事件冲突处理
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@@ -33,20 +34,126 @@ namespace HitBotCSharpDemo
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int posHand1;
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float[] pos2;//点位3
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int posHand2;
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Thread thread_PosMove;
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Thread thread_PosMove;
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private float[][] cameraPositions;
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private string filePath = "Cam_pos_path.txt";
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private ControlBeanEx robot;
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public ShowForm()
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{
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InitializeComponent();
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TcpserverEx.net_port_initial();
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robot = TcpserverEx.get_robot(74);//替换为自己的机器的id号
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robot = TcpserverEx.get_robot(74);//替换为自己的机器的id号
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}
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private void LoadCameraPositions()
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{
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try
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{
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if (File.Exists(filePath))
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{
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string[] lines = File.ReadAllLines(filePath);
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cameraPositions = new float[5][]; // 存储5个点位
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int positionIndex = 0;
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foreach (string line in lines)
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{
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// 跳过注释行（以#开头）和空行
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if (string.IsNullOrWhiteSpace(line) || line.StartsWith("#"))
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continue;
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if (positionIndex < 5)
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{
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string[] coords = line.Split(',');
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if (coords.Length == 4)
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{
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cameraPositions[positionIndex] = new float[4];
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for (int i = 0; i < 4; i++)
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{
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if (float.TryParse(coords[i].Trim(), out float value))
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{
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cameraPositions[positionIndex][i] = value;
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}
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else
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{
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MessageBox.Show($"解析第{positionIndex + 1}行第{i + 1}个坐标时出错：{coords[i]}");
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return;
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}
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}
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positionIndex++;
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}
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else
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{
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MessageBox.Show($"第{positionIndex + 1}行坐标格式错误，应该包含4个值(X,Y,Z,R)");
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return;
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}
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}
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}
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if (positionIndex == 5)
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{
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MessageBox.Show("成功加载5个相机位置点位");
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}
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else
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{
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MessageBox.Show($"只加载了{positionIndex}个点位，需要5个点位");
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}
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}
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else
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{
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MessageBox.Show($"未找到文件：{filePath}");
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}
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}
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catch (Exception ex)
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{
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MessageBox.Show($"加载点位文件时出错：{ex.Message}");
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}
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}
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private void MoveToPosition(int positionIndex)
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{
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if (!isInit)
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{
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MessageBox.Show("机械臂未初始化");
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return;
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}
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if (cameraPositions == null || positionIndex >= cameraPositions.Length || cameraPositions[positionIndex] == null)
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{
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MessageBox.Show($"点位{positionIndex + 1}数据未加载或无效");
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return;
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}
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try
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{
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// 获取当前位置参数
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robot.get_scara_param();
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int currentHand = robot.get_lr(); // 使用当前手系
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float x = cameraPositions[positionIndex][0];
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float y = cameraPositions[positionIndex][1];
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float z = cameraPositions[positionIndex][2];
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float r = cameraPositions[positionIndex][3];
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// 设置运动参数
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robot.new_set_acc(30, 30, 30, 30);
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// 移动到指定位置
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int result = robot.new_movej_xyz_lr(x, y, z, r, 50, 0, currentHand);
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if (result != 1)
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{
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MessageBox.Show($"移动到点位{positionIndex + 1}失败，返回值：{result}");
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}
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}
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catch (Exception ex)
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{
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MessageBox.Show($"移动到点位{positionIndex + 1}时出错：{ex.Message}");
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}
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}
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private void ShowForm_Load(object sender, EventArgs e)
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{
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lbl_Current_Input = new Label[] { lbl_InputState_0, lbl_InputState_1, lbl_InputState_2, lbl_InputState_3, lbl_InputState_4, lbl_InputState_5 };//输入信号数组
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lbl_Current_Output = new Label[] { lbl_OutputState_0, lbl_OutputState_1, lbl_OutputState_2, lbl_OutputState_3, lbl_OutputState_4, lbl_OutputState_5 };//输出信号数组
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LoadCameraPositions();
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}
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private void cob_Robot_ID_Click(object sender, EventArgs e)
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@@ -486,22 +593,27 @@ namespace HitBotCSharpDemo
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private void button1_Click(object sender, EventArgs e)
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{
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MoveToPosition(0);
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}
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private void button3_Click(object sender, EventArgs e)
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{
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MoveToPosition(2);
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}
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private void button2_Click(object sender, EventArgs e)
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{
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MoveToPosition(1);
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}
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private void button4_Click(object sender, EventArgs e)
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{
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MoveToPosition(3);
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}
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private void init_pos_btn_Click(object sender, EventArgs e)
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{
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MoveToPosition(4);
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}
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}
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}
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Binary file not shown.
Binary file not shown.
@@ -67,3 +67,366 @@
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2025-06-09 10:08:00.234 _new_stop_move_thread_4
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2025-06-09 10:08:00.354 wait_stop in
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2025-06-09 10:08:00.383 wait_stop out_0
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2025-06-09 10:46:29.863 SDK_VERSION_V2.0.0.29_Release
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2025-06-09 10:46:29.865 robot connected
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2025-06-09 10:46:29.865 26
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2025-06-09 10:46:29.865 current generation=26
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2025-06-09 10:46:30.377 0x1a
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2025-06-09 10:46:31.208 initial joint2 4444932
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2025-06-09 10:46:31.208 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-09 10:46:31.208 robot WritePID
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2025-06-09 10:46:31.511 initial joint1 -1269934
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2025-06-09 10:46:31.560 initial joint2 4444932
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2025-06-09 10:46:31.611 initial joint3 -12991
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2025-06-09 10:46:31.658 initial joint4 -25056187
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2025-06-09 10:46:31.676 initial joint1 -1269934
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2025-06-09 10:46:31.729 initial joint2 4444933
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2025-06-09 10:46:31.773 initial joint3 -12991
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2025-06-09 10:46:31.813 initial joint4 -25056187
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2025-06-09 10:46:31.829 initial joint1 -1269934
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2025-06-09 10:46:31.876 initial joint2 4444936
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2025-06-09 10:46:31.937 initial joint3 -12991
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2025-06-09 10:46:32.008 initial joint4 -25056188
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2025-06-09 10:46:34.194 initial_thread initialized
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2025-06-09 10:46:34.194 servo enable
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2025-06-09 10:46:34.194 brake open
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2025-06-09 10:46:34.194 set_brake_state 0 1
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2025-06-09 10:46:34.409 robot initialized
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2025-06-09 10:46:34.968 get_scara_param -87.199303 152.604797 -4.460100 -1027.919556
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2025-06-09 10:46:34.968 get_scara_real_coor -87.199402 152.604797 -4.460400 -1027.919800
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2025-06-09 10:46:34.968 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
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2025-06-09 10:46:34.968 position -1269931.875000 4444937.000000 -12990.983398 -25056188.000000 0.000000 0.000000 0.000000 0.000000
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2025-06-09 10:46:34.968 speed 87199.304688 152604.796875 4460.100098 1032283.187500
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2025-06-09 10:46:34.968 set_first_position_after_initial
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2025-06-09 10:46:34.971 movej_old start_pos: -87.199303 152.604797 -4.460100 -1027.919556 end_pos: -87.199303 152.604797 -4.460100 -1027.919556 org_sp 10.000000 end_sp 10.000000
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2025-06-09 10:46:35.251 J3 Belt Meilage=40.887569km
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2025-06-09 10:46:42.784 _new_stop_move_thread_0
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2025-06-09 10:46:42.784 j1_slow_down_t = 2
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2025-06-09 10:46:42.784 j2_slow_down_t = 1
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2025-06-09 10:46:42.784 j3_slow_down_t = 0
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2025-06-09 10:46:42.784 j4_slow_down_t = 0
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2025-06-09 10:46:42.784 tmp_t[3] = 2
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2025-06-09 10:46:42.785 _new_stop_move_thread_1
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2025-06-09 10:46:42.894 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
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2025-06-09 10:46:42.917 _new_stop_move_thread_2
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2025-06-09 10:46:42.948 _new_stop_move_thread_3
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2025-06-09 10:46:42.948 get_scara_param -83.923302 148.635101 -4.460100 -1027.949951
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2025-06-09 10:46:42.948 get_scara_real_coor -83.923302 148.635101 -4.460100 -1027.949951
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2025-06-09 10:46:42.948 _new_stop_move_thread_4
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2025-06-09 10:46:43.102 wait_stop in
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2025-06-09 10:46:43.140 wait_stop out_0
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2025-06-09 10:46:44.353 jog_move_xyzr return 4 Ŀ<><C4BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD>
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2025-06-09 10:46:44.569 jog_move_xyzr return 4 Ŀ<><C4BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD>
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2025-06-09 10:46:44.715 _new_stop_move_thread_0
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2025-06-09 10:46:44.715 j1_slow_down_t = 0
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2025-06-09 10:46:44.715 j2_slow_down_t = 0
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2025-06-09 10:46:44.715 j3_slow_down_t = 0
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2025-06-09 10:46:44.715 j4_slow_down_t = 0
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2025-06-09 10:46:44.715 tmp_t[3] = 0
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2025-06-09 10:46:44.715 _new_stop_move_thread_1
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2025-06-09 10:46:44.771 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
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2025-06-09 10:46:44.866 _new_stop_move_thread_2
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2025-06-09 10:46:44.893 _new_stop_move_thread_3
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2025-06-09 10:46:44.893 get_scara_param -83.923302 148.635406 -2.602000 -1027.949829
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2025-06-09 10:46:44.893 get_scara_real_coor -83.923302 148.635406 -2.602000 -1027.949829
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2025-06-09 10:46:44.893 _new_stop_move_thread_4
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2025-06-09 10:46:44.974 wait_stop in
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2025-06-09 10:46:45.012 wait_stop out_0
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2025-06-09 10:46:46.753 _new_stop_move_thread_0
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2025-06-09 10:46:46.753 j1_slow_down_t = 0
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2025-06-09 10:46:46.753 j2_slow_down_t = 0
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2025-06-09 10:46:46.753 j3_slow_down_t = 2
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2025-06-09 10:46:46.753 j4_slow_down_t = 0
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2025-06-09 10:46:46.753 tmp_t[3] = 2
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2025-06-09 10:46:46.753 _new_stop_move_thread_1
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2025-06-09 10:46:46.915 _new_stop_move_thread_2
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2025-06-09 10:46:46.938 _new_stop_move_thread_3
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2025-06-09 10:46:46.938 get_scara_param -83.923203 148.635498 -11.014100 -1027.949707
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2025-06-09 10:46:46.938 get_scara_real_coor -83.923203 148.635498 -11.014100 -1027.949829
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2025-06-09 10:46:46.938 _new_stop_move_thread_4
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2025-06-09 10:46:46.953 wait_stop in
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2025-06-09 10:46:46.996 wait_stop out_0
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2025-06-09 10:46:50.216 _new_stop_move_thread_0
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2025-06-09 10:46:50.216 j1_slow_down_t = 0
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2025-06-09 10:46:50.216 j2_slow_down_t = 0
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2025-06-09 10:46:50.216 j3_slow_down_t = 0
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2025-06-09 10:46:50.218 j4_slow_down_t = 4
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2025-06-09 10:46:50.218 tmp_t[3] = 4
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2025-06-09 10:46:50.218 _new_stop_move_thread_1
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2025-06-09 10:46:50.262 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
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2025-06-09 10:46:50.397 _new_stop_move_thread_2
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2025-06-09 10:46:50.427 _new_stop_move_thread_3
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2025-06-09 10:46:50.427 get_scara_param -83.923203 148.635605 -11.019200 -1012.262573
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2025-06-09 10:46:50.427 get_scara_real_coor -83.923203 148.635605 -11.019200 -1012.262512
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2025-06-09 10:46:50.427 _new_stop_move_thread_4
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2025-06-09 10:46:50.466 wait_stop in
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2025-06-09 10:46:50.499 wait_stop out_0
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2025-06-09 10:48:07.607 SDK_VERSION_V2.0.0.29_Release
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2025-06-09 10:48:07.607 robot connected
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2025-06-09 10:48:07.607 26
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2025-06-09 10:48:07.607 current generation=26
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2025-06-09 10:48:08.128 0x1a
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2025-06-09 10:48:08.946 initial joint2 4329327
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2025-06-09 10:48:08.946 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-09 10:48:08.946 robot WritePID
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2025-06-09 10:48:09.250 initial joint1 -1222221
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2025-06-09 10:48:09.300 initial joint2 4329327
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2025-06-09 10:48:09.340 initial joint3 -32095
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2025-06-09 10:48:09.400 initial joint4 -24702448
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2025-06-09 10:48:09.415 initial joint1 -1222222
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2025-06-09 10:48:09.465 initial joint2 4329327
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2025-06-09 10:48:09.513 initial joint3 -32096
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2025-06-09 10:48:09.549 initial joint4 -24702449
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2025-06-09 10:48:09.559 initial joint1 -1222222
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2025-06-09 10:48:09.612 initial joint2 4329327
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2025-06-09 10:48:09.656 initial joint3 -32096
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2025-06-09 10:48:09.695 initial joint4 -24702450
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2025-06-09 10:48:11.871 initial_thread initialized
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2025-06-09 10:48:11.871 servo enable
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2025-06-09 10:48:11.871 brake open
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2025-06-09 10:48:11.871 set_brake_state 0 1
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2025-06-09 10:48:12.076 robot initialized
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2025-06-09 10:48:12.647 get_scara_param -83.923302 148.635605 -11.019200 -1012.451599
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2025-06-09 10:48:12.648 get_scara_real_coor -83.923302 148.635605 -11.019200 -1012.451599
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2025-06-09 10:48:12.648 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
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2025-06-09 10:48:12.648 position -1222221.750000 4329326.000000 -32095.748047 -24702452.000000 -1222221.500000 4329320.500000 -13872.527344 -25078630.000000
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2025-06-09 10:48:12.648 speed 0.017166 0.188828 6256.446289 15498.057617
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2025-06-09 10:48:12.648 set_first_position_after_initial
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2025-06-09 10:48:12.649 movej_old start_pos: -83.923309 148.635620 -11.019200 -1012.451660 end_pos: -83.923309 148.635620 -11.019200 -1012.451782 org_sp 10.000000 end_sp 10.000000
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2025-06-09 10:48:12.950 J3 Belt Meilage=40.887585km
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2025-06-09 10:52:07.807 SDK_VERSION_V2.0.0.29_Release
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2025-06-09 10:52:07.823 robot connected
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2025-06-09 10:52:07.824 26
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2025-06-09 10:52:07.824 current generation=26
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2025-06-09 10:52:08.332 0x1a
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2025-06-09 10:52:09.187 initial joint2 4329327
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2025-06-09 10:52:09.187 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-09 10:52:09.187 robot WritePID
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2025-06-09 10:52:09.492 initial joint1 -1222220
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2025-06-09 10:52:09.522 initial joint2 4329328
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2025-06-09 10:52:09.586 initial joint3 -32097
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2025-06-09 10:52:09.628 initial joint4 -24702455
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2025-06-09 10:52:09.653 initial joint1 -1222220
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2025-06-09 10:52:09.701 initial joint2 4329330
|
||||
2025-06-09 10:52:09.753 initial joint3 -32097
|
||||
2025-06-09 10:52:09.800 initial joint4 -24702457
|
||||
2025-06-09 10:52:09.822 initial joint1 -1222220
|
||||
2025-06-09 10:52:09.866 initial joint2 4329331
|
||||
2025-06-09 10:52:09.917 initial joint3 -32097
|
||||
2025-06-09 10:52:09.966 initial joint4 -24702458
|
||||
2025-06-09 10:52:12.149 initial_thread initialized
|
||||
2025-06-09 10:52:12.149 servo enable
|
||||
2025-06-09 10:52:12.149 brake open
|
||||
2025-06-09 10:52:12.149 set_brake_state 0 1
|
||||
2025-06-09 10:52:12.367 robot initialized
|
||||
2025-06-09 10:52:12.941 get_scara_param -83.923103 148.635803 -11.019600 -1012.451721
|
||||
2025-06-09 10:52:12.941 get_scara_real_coor -83.923103 148.635803 -11.019600 -1012.451721
|
||||
2025-06-09 10:52:12.941 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-09 10:52:12.941 position -1222218.750000 4329331.500000 -32096.910156 -24702462.000000 -1222221.500000 4329320.500000 -13872.527344 -25078630.000000
|
||||
2025-06-09 10:52:12.941 speed 0.188828 0.377655 6256.845703 15497.644531
|
||||
2025-06-09 10:52:12.941 set_first_position_after_initial
|
||||
2025-06-09 10:52:12.941 movej_old start_pos: -83.923103 148.635803 -11.019600 -1012.451782 end_pos: -83.923103 148.635803 -11.019600 -1012.451782 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-09 10:52:13.263 J3 Belt Meilage=40.887585km
|
||||
2025-06-09 10:52:16.158 30 30 30 30
|
||||
2025-06-09 10:52:16.158 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 10:52:16.158 goal_angle -60.720737 27.061800
|
||||
2025-06-09 10:52:16.158 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 10:52:16.158 z1 -11.019600 z2 -75.466103
|
||||
2025-06-09 10:52:16.158 angle1_1 -83.923103 angle2_1 148.635803 z1 -11.019600 r1 -1012.451782
|
||||
2025-06-09 10:52:16.158 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 10:52:16.158 speed 50.000000
|
||||
2025-06-09 10:52:16.158 tcp_distance 353.244476
|
||||
2025-06-09 10:52:16.169 new_end_speed 50.000000 j1_acc_t 3.532445 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 7.184140
|
||||
2025-06-09 10:52:16.170 new_end_speed 50.000000 j2_acc_t 3.532445 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.642918
|
||||
2025-06-09 10:52:16.170 new_end_speed 50.000000 j3_acc_t 3.532445 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 19.954548
|
||||
2025-06-09 10:52:16.170 new_end_speed 50.000000 j4_acc_t 3.532445 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 2.084048
|
||||
2025-06-09 10:52:16.170 end_speed 50.000000
|
||||
2025-06-09 10:52:16.170 trail_number7.064889
|
||||
2025-06-09 10:52:16.170 tcp_distance 353.244476
|
||||
2025-06-09 10:52:16.170 angle1_1 = -83.923103 angle2_1 = 148.635803 z1 = -11.019600 r1 = -1012.451782 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 10:52:32.485 30 30 30 30
|
||||
2025-06-09 10:52:32.485 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 10:52:32.485 goal_angle -67.226128 86.401024
|
||||
2025-06-09 10:52:32.485 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 10:52:32.485 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 10:52:32.485 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 10:52:32.485 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 10:52:32.485 speed 50.000000
|
||||
2025-06-09 10:52:32.485 tcp_distance 171.494293
|
||||
2025-06-09 10:52:32.485 new_end_speed 50.000000 j1_acc_t 1.714943 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 4.148982
|
||||
2025-06-09 10:52:32.485 new_end_speed 50.000000 j2_acc_t 1.714943 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.845131
|
||||
2025-06-09 10:52:32.485 new_end_speed 50.000000 j3_acc_t 1.714943 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 10:52:32.485 new_end_speed 50.000000 j4_acc_t 1.714943 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 10:52:32.485 end_speed 50.000000
|
||||
2025-06-09 10:52:32.485 trail_number3.429886
|
||||
2025-06-09 10:52:32.485 tcp_distance 171.494293
|
||||
2025-06-09 10:52:32.485 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 10:52:36.382 30 30 30 30
|
||||
2025-06-09 10:52:36.382 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 10:52:36.388 goal_angle -44.911705 98.661697
|
||||
2025-06-09 10:52:36.388 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 10:52:36.388 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 10:52:36.388 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 10:52:36.388 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 10:52:36.388 speed 50.000000
|
||||
2025-06-09 10:52:36.388 tcp_distance 144.069748
|
||||
2025-06-09 10:52:36.388 new_end_speed 50.000000 j1_acc_t 1.440697 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.940685
|
||||
2025-06-09 10:52:36.388 new_end_speed 50.000000 j2_acc_t 1.440697 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 9.308070
|
||||
2025-06-09 10:52:36.388 new_end_speed 50.000000 j3_acc_t 1.440697 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 10:52:36.388 new_end_speed 50.000000 j4_acc_t 1.440697 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 10:52:36.388 end_speed 50.000000
|
||||
2025-06-09 10:52:36.388 trail_number2.881395
|
||||
2025-06-09 10:52:36.388 tcp_distance 144.069748
|
||||
2025-06-09 10:52:36.388 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 10:52:39.447 30 30 30 30
|
||||
2025-06-09 10:52:39.447 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 10:52:39.447 goal_angle -11.002804 84.112190
|
||||
2025-06-09 10:52:39.447 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 10:52:39.447 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 10:52:39.447 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 10:52:39.447 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 10:52:39.447 speed 50.000000
|
||||
2025-06-09 10:52:39.447 tcp_distance 144.322098
|
||||
2025-06-09 10:52:39.449 new_end_speed 50.000000 j1_acc_t 1.443221 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 25.697960
|
||||
2025-06-09 10:52:39.449 new_end_speed 50.000000 j2_acc_t 1.443221 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 11.026386
|
||||
2025-06-09 10:52:39.449 new_end_speed 50.000000 j3_acc_t 1.443221 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 10:52:39.449 new_end_speed 50.000000 j4_acc_t 1.443221 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 10:52:39.449 end_speed 50.000000
|
||||
2025-06-09 10:52:39.449 trail_number2.886442
|
||||
2025-06-09 10:52:39.449 tcp_distance 144.322098
|
||||
2025-06-09 10:52:39.449 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 10:52:43.312 30 30 30 30
|
||||
2025-06-09 10:52:43.312 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 50.000000 0.000000 1
|
||||
2025-06-09 10:52:43.312 goal_angle -87.199585 152.604431
|
||||
2025-06-09 10:52:43.313 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 50.000000
|
||||
2025-06-09 10:52:43.313 z1 -75.466103 z2 -4.457100
|
||||
2025-06-09 10:52:43.313 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 10:52:43.313 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-09 10:52:43.313 speed 50.000000
|
||||
2025-06-09 10:52:43.313 tcp_distance 288.737366
|
||||
2025-06-09 10:52:43.313 new_end_speed 50.000000 j1_acc_t 2.887374 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 28.863682
|
||||
2025-06-09 10:52:43.313 new_end_speed 50.000000 j2_acc_t 2.887374 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.945168
|
||||
2025-06-09 10:52:43.313 new_end_speed 50.000000 j3_acc_t 2.887374 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 26.898527
|
||||
2025-06-09 10:52:43.313 new_end_speed 50.000000 j4_acc_t 2.887374 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 8.409093
|
||||
2025-06-09 10:52:43.313 end_speed 50.000000
|
||||
2025-06-09 10:52:43.313 trail_number5.774747
|
||||
2025-06-09 10:52:43.313 tcp_distance 288.737366
|
||||
2025-06-09 10:52:43.315 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-09 10:53:40.012 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-09 10:53:40.012 robot connected
|
||||
2025-06-09 10:53:40.012 26
|
||||
2025-06-09 10:53:40.012 current generation=26
|
||||
2025-06-09 10:53:40.515 0x1a
|
||||
2025-06-09 10:53:41.320 initial joint2 4444933
|
||||
2025-06-09 10:53:41.321 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-09 10:53:41.322 robot WritePID
|
||||
2025-06-09 10:53:41.623 initial joint1 -1269936
|
||||
2025-06-09 10:53:41.686 initial joint2 4444933
|
||||
2025-06-09 10:53:41.737 initial joint3 -12991
|
||||
2025-06-09 10:53:41.771 initial joint4 -25056187
|
||||
2025-06-09 10:53:41.787 initial joint1 -1269936
|
||||
2025-06-09 10:53:41.828 initial joint2 4444937
|
||||
2025-06-09 10:53:41.879 initial joint3 -12991
|
||||
2025-06-09 10:53:41.923 initial joint4 -25056188
|
||||
2025-06-09 10:53:41.945 initial joint1 -1269936
|
||||
2025-06-09 10:53:41.994 initial joint2 4444941
|
||||
2025-06-09 10:53:42.037 initial joint3 -12991
|
||||
2025-06-09 10:53:42.081 initial joint4 -25056189
|
||||
2025-06-09 10:53:44.255 initial_thread initialized
|
||||
2025-06-09 10:53:44.255 servo enable
|
||||
2025-06-09 10:53:44.255 brake open
|
||||
2025-06-09 10:53:44.255 set_brake_state 0 1
|
||||
2025-06-09 10:53:44.458 robot initialized
|
||||
2025-06-09 10:53:45.023 get_scara_param -87.199501 152.604996 -4.460400 -1027.919800
|
||||
2025-06-09 10:53:45.023 get_scara_real_coor -87.199501 152.604996 -4.460400 -1027.919800
|
||||
2025-06-09 10:53:45.023 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-09 10:53:45.023 position -1269934.750000 4444942.500000 -12991.857422 -25056192.000000 -1178811.375000 4281105.000000 -29966.357422 -25081904.000000
|
||||
2025-06-09 10:53:45.025 speed 6256.945801 5624.914063 5827.731934 1059.301880
|
||||
2025-06-09 10:53:45.025 set_first_position_after_initial
|
||||
2025-06-09 10:53:45.025 movej_old start_pos: -87.199501 152.604996 -4.460400 -1027.919800 end_pos: -87.199501 152.604996 -4.460400 -1027.919800 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-09 10:53:45.313 J3 Belt Meilage=40.887733km
|
||||
2025-06-09 10:53:47.645 30 30 30 30
|
||||
2025-06-09 10:53:47.645 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 10:53:47.645 goal_angle -60.720737 27.061800
|
||||
2025-06-09 10:53:47.645 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 10:53:47.645 z1 -4.460400 z2 -75.466103
|
||||
2025-06-09 10:53:47.645 angle1_1 -87.199501 angle2_1 152.604996 z1 -4.460400 r1 -1027.919800
|
||||
2025-06-09 10:53:47.645 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 10:53:47.645 speed 50.000000
|
||||
2025-06-09 10:53:47.645 tcp_distance 361.528076
|
||||
2025-06-09 10:53:47.645 new_end_speed 50.000000 j1_acc_t 3.615281 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.010762
|
||||
2025-06-09 10:53:47.645 new_end_speed 50.000000 j2_acc_t 3.615281 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.981258
|
||||
2025-06-09 10:53:47.645 new_end_speed 50.000000 j3_acc_t 3.615281 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 21.481737
|
||||
2025-06-09 10:53:47.645 new_end_speed 50.000000 j4_acc_t 3.615281 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 6.715918
|
||||
2025-06-09 10:53:47.645 end_speed 50.000000
|
||||
2025-06-09 10:53:47.645 trail_number7.230562
|
||||
2025-06-09 10:53:47.645 tcp_distance 361.528076
|
||||
2025-06-09 10:53:47.645 angle1_1 = -87.199501 angle2_1 = 152.604996 z1 = -4.460400 r1 = -1027.919800 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 10:53:54.900 30 30 30 30
|
||||
2025-06-09 10:53:54.900 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 10:53:54.900 goal_angle -67.226128 86.401024
|
||||
2025-06-09 10:53:54.901 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 10:53:54.901 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 10:53:54.901 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 10:53:54.901 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 10:53:54.901 speed 50.000000
|
||||
2025-06-09 10:53:54.902 tcp_distance 171.494293
|
||||
2025-06-09 10:53:54.902 new_end_speed 50.000000 j1_acc_t 1.714943 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 4.148982
|
||||
2025-06-09 10:53:54.902 new_end_speed 50.000000 j2_acc_t 1.714943 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.845131
|
||||
2025-06-09 10:53:54.902 new_end_speed 50.000000 j3_acc_t 1.714943 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 10:53:54.902 new_end_speed 50.000000 j4_acc_t 1.714943 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 10:53:54.902 end_speed 50.000000
|
||||
2025-06-09 10:53:54.903 trail_number3.429886
|
||||
2025-06-09 10:53:54.903 tcp_distance 171.494293
|
||||
2025-06-09 10:53:54.924 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 10:53:58.733 30 30 30 30
|
||||
2025-06-09 10:53:58.733 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 10:53:58.733 goal_angle -44.911705 98.661697
|
||||
2025-06-09 10:53:58.733 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 10:53:58.733 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 10:53:58.733 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 10:53:58.735 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 10:53:58.735 speed 50.000000
|
||||
2025-06-09 10:53:58.735 tcp_distance 144.069748
|
||||
2025-06-09 10:53:58.735 new_end_speed 50.000000 j1_acc_t 1.440697 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.940685
|
||||
2025-06-09 10:53:58.735 new_end_speed 50.000000 j2_acc_t 1.440697 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 9.308070
|
||||
2025-06-09 10:53:58.735 new_end_speed 50.000000 j3_acc_t 1.440697 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 10:53:58.735 new_end_speed 50.000000 j4_acc_t 1.440697 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 10:53:58.735 end_speed 50.000000
|
||||
2025-06-09 10:53:58.735 trail_number2.881395
|
||||
2025-06-09 10:53:58.735 tcp_distance 144.069748
|
||||
2025-06-09 10:53:58.735 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 10:54:01.714 30 30 30 30
|
||||
2025-06-09 10:54:01.714 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 10:54:01.714 goal_angle -11.002804 84.112190
|
||||
2025-06-09 10:54:01.714 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 10:54:01.717 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 10:54:01.717 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 10:54:01.717 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 10:54:01.717 speed 50.000000
|
||||
2025-06-09 10:54:01.717 tcp_distance 144.322098
|
||||
2025-06-09 10:54:01.717 new_end_speed 50.000000 j1_acc_t 1.443221 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 25.697960
|
||||
2025-06-09 10:54:01.717 new_end_speed 50.000000 j2_acc_t 1.443221 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 11.026386
|
||||
2025-06-09 10:54:01.717 new_end_speed 50.000000 j3_acc_t 1.443221 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 10:54:01.717 new_end_speed 50.000000 j4_acc_t 1.443221 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 10:54:01.717 end_speed 50.000000
|
||||
2025-06-09 10:54:01.717 trail_number2.886442
|
||||
2025-06-09 10:54:01.719 tcp_distance 144.322098
|
||||
2025-06-09 10:54:01.719 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 10:54:09.427 30 30 30 30
|
||||
2025-06-09 10:54:09.427 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 50.000000 0.000000 1
|
||||
2025-06-09 10:54:09.427 goal_angle -87.199585 152.604431
|
||||
2025-06-09 10:54:09.427 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 50.000000
|
||||
2025-06-09 10:54:09.427 z1 -75.466103 z2 -4.457100
|
||||
2025-06-09 10:54:09.427 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 10:54:09.427 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-09 10:54:09.427 speed 50.000000
|
||||
2025-06-09 10:54:09.427 tcp_distance 288.737366
|
||||
2025-06-09 10:54:09.427 new_end_speed 50.000000 j1_acc_t 2.887374 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 28.863682
|
||||
2025-06-09 10:54:09.427 new_end_speed 50.000000 j2_acc_t 2.887374 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.945168
|
||||
2025-06-09 10:54:09.427 new_end_speed 50.000000 j3_acc_t 2.887374 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 26.898527
|
||||
2025-06-09 10:54:09.427 new_end_speed 50.000000 j4_acc_t 2.887374 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 8.409093
|
||||
2025-06-09 10:54:09.427 end_speed 50.000000
|
||||
2025-06-09 10:54:09.427 trail_number5.774747
|
||||
2025-06-09 10:54:09.427 tcp_distance 288.737366
|
||||
2025-06-09 10:54:09.427 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
|
||||
6
HitBotCSharpDemo/bin/x64/Release/Cam_pos_path.txt
Normal file
6
HitBotCSharpDemo/bin/x64/Release/Cam_pos_path.txt
Normal file
@@ -0,0 +1,6 @@
|
||||
# X,Y,Z,R
|
||||
274.065,-302.7438,-75.4661,-1005.721
|
||||
274.065,-137.1582,-75.4661,-1005.721
|
||||
274.065,5.9653,-75.4661,-1005.721
|
||||
274.065,149.3837,-75.4661,-1005.721
|
||||
93.9893,-37.883,-4.4571,-1027.92
|
||||
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Reference in New Issue
Block a user