UFactory xArm 5, Руководство пользователя

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while True:
arm.set_position(x=400, y=-100, z=250, roll=180, pitch=0, yaw=0, radius=50,speed=200, wait=False)
arm.set_position(x=400, y=100, z=250, roll=180, pitch=0, yaw=0, radius=50,speed=200, wait=False)
arm.set_position(x=300, y=0, z=250, roll=-180, pitch=0, yaw=0, radius=50,speed=200, wait=False)
set_position interface: refer to Table 2.2.
The set_pause_time interface is described in Table 2.3:
Table 2.3 set_pause_time description
set_pause_time
Description Set the robotic arm pause time
Parameter
sltime pause time, unit: second (s);
wait whether to wait, default is False;
2.2.3. Circular and Arc Motion
The circular motion calculates the trajectory of the spatial circle according to the
coordinates of three points, which are (starting point, pose 1, pose 2).
The calculation method of three-point drawing circle:
Use the current point as the starting point, and then set two position points. Three
points define a circle. Make sure these three points are not in a common line.
Set the center angle:
1. If 0< center angle (°) <360 ° or center angle (°) > 360 °, the motion path of the
robotic arm is a circular arc of the corresponding degree;
center angle = 60 ° , the motion trajectory of the robotic arm is:
2. The center angle (°) = 360 °, the movement track of the robotic arm is a complete
circle;
3. If you want to draw multiple circles continuously(for example, draw 10 circles
continuously), set center angles equal to 3600°;