52
<poweroff success >
and shut down the power; whereas robot has been powered
off already, it will send
<must disconnect first >
to the client.
Client sends
<status>
to Server, robot will send the 6 joints displacement between
the end to the base coordinate origin, such as pos1 ; pos2 ; pos3 ; pos4 ; pos5 ;
pos6 ; axis1 ; axis2 ; axis3 ; axis4 ; axis5 ; axis6.
Client sends
<ikine(x, y, z, rx, ry, rz>
to Server, the robot will calculate arm angle
between each joint, spatial position and joint position. It will send
<calculation
done >
to client as feedback. In addition, it will print parameter result for x, y, z
with unit in millimeter and rx, ry, rz with unit in degree. It will report the inverse
kinematics with form of strings after a serious calculation. Take, axus1 ; axis2 ;
axis3 ; axis4 ; aixs5 ; axis6, as example. If there requires more parameters, it will
send
<parameter error >
to client. In addition, if there is no valid solution, it will
send
<calculation error>
to client. Take, ikine(100, 150, 200, 0, 45, 90), as
example.
Client sends:
<fkine(j1, j2, j3, j4, j5, j6)>
to server, robot will calculates the
relative spatial position and send <
calculation done>
as feedback. In addition, it
will repot parameters from FKineEndPose through Port 2001 (unit: mm and
degree). After calculation, it will send robot terminal position, such as pos1 , pos2 ,
pos3 , pos4 , pos5 , pos6. If there is input parameter input issue, it will send
<parameter error >
. Take, fkine(20, 30, 40, 0, 45, 90), as example.
If robot receives new command while it is reporting an error, it will send
<system
error>
to client as feedback.
If robot receives new command while it is NOT ready to run program, it will send
<system not ready>
to client.
All Port 2000 feedbacks are end with “\n” for
avoiding package adhesion.
Status, fkine and ikine function may be deleted.
Port 2001:
Port 2001 will send robot parameters at 10Hz frequency. The data is listed below.
