56. 示教停止 robotServiceTeachStop ................................................................... 96
57. 运动的启动、停止、暂停和继续控制 rootServiceRobotMoveControl ....................................... 96
58. 快速停止 robotMoveFastStop ....................................................................... 97
离线轨迹运动.................................................................................................... 98
59. 添加离线轨迹路点 robotServiceOfflineTrackWaypointAppend ........................................... 98
60. 清空离线轨迹路点 robotServiceOfflineTrackWaypointClear ............................................ 98
61. 启动离线轨迹运行 robotServiceOfflineTrackMoveStartup .............................................. 98
62. 停止离线轨迹运行 robotServiceOfflineTrackMoveStop ................................................. 98
TCP 转 CAN 透传 .................................................................................................. 98
63. 进入 tcp 转 can 透传模式 robotServiceEnterTcp2CanbusMode ............................................ 98
64. 退出 tcp 转 can 透传模式 robotServiceLeaveTcp2CanbusMode ............................................ 99
65. 发送坐标数据到关节 can 总线 robotServiceSetRobotPosData2Canbus ..................................... 99
工具接口 ...................................................................................................... 100
66. 正解 robotServiceRobotFk ........................................................................ 100
67. 逆解 robotServiceRobotIk ........................................................................ 102
68. 工具标定 robotServiceToolCalibration ............................................................ 104
69. 检查用户坐标系是否合理 robotServiceCheckUserCoordinate ........................................... 104
70. 用户坐标系标定 robotServiceUserCoordinateCalibration ............................................. 104
71. robotServiceOriMatrixToQuaternion .............................................................. 104
72. Base 坐标系转 User 坐标系 baseToUserCoordinate .................................................... 104
73. F_B 坐标系转 T_B 坐标 ............................................................................. 111
74. User 坐标系转 Base 坐标系 userToBaseCoordinate .................................................... 113
75. User 坐标系下位置参数转 Base 坐标系 userCoordPointToBasePoint ...................................... 120
76. flange 姿态转 Tool 姿态 endOrientation2ToolOrientation ............................................ 122
77. Tool 姿态转 flange 姿态 toolOrientation2EndOrientation ............................................ 123
78. 根据位置获取目标路点信息 getTargetWaypointByPosition ............................................. 125
79. 四元数转欧拉角 quaternionToRPY ................................................................... 128
80. 欧拉角转四元数 RPYToQuaternion ................................................................... 129
81. 根据错误号返回错误信息 getErrDescByCode .......................................................... 129
机械臂控制接口 ................................................................................................. 130
82. 机械臂控制 rootServiceRobotControl .............................................................. 130
83. 返回电源状态 robotServicePowerControl ........................................................... 130
84. 机械臂释放刹车 robotServiceReleaseBrake .......................................................... 130
末端工具接口................................................................................................... 130
85. 设置无工具动力学参数 robotServiceSetNoneToolDynamicsParam ........................................ 130
86. 设置工具的动力学参数 robotServiceSetToolDynamicsParam ............................................ 131
87. 获取工具的动力学参数 robotServiceGetToolDynamicsParam ............................................ 132
评论0