UFactory xArm 5, Руководство пользователя

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
The robotic arm draws a circle in a clockwise direction, and The trajectory of the
robotic arm is as follows:

If the positions of point B and C are swapped, point B is (350,-50,400,180,0,0),
point C is (350,50,400,180,0,0), the robotic arm will draw a circle in a
counterclockwise direction. The trajectory of the robotic arm is as follows:
Python example:
arm.set_servo_angle(angle=[0.0, -45.0, 0.0, 0.0, -45.0, 0.0], speed=20, mvacc=500, wait=True)
arm.set_position(*[300.0, 0.0, 400.0, 0.0, -90.0, 180.0], speed=300, mvacc=2000, radius=-1.0, wait=True)
move_circle([350.0, 50.0, 400.0, 180.0, -90.0, 0.0], [350.0, -50.0, 400.0, 180.0, -90.0, 0.0], 1000.0, speed=300,
mvacc=2000, wait=True)
set_servo_angle interface: see Table 2.1.
set_position interface: see Table 2.2.
The move_circle interface is described in Table 2.4:
Table 2.4 move_circle description
move_circle
Description This motion calculates the trajectory of a space circle based on three-point coordinates. The three-
point coordinates are (current starting point, pose 1, pose 2)
Parameter
pose1 Cartesian coordinates
[x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]
；
pose2 Cartesian coordinates
[x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]
；
percent Percentage of arc moved
is_radian
If is_radian = True, the unit of roll / pitch / yaw is rad;
If is_radian = False, the unit of roll / pitch / yaw is °;
speed TCP motion speed (mm / s, rad / s);
mvacc TCP motion acceleration (mm / s
2
, rad / s
2
);
mvtime 0, reserved;
wait
If wait = True, wait for the current commands to be sent before sending the next
commands;
If wait = False, send the next commands directly;