{"id":15,"date":"2015-11-29T12:54:20","date_gmt":"2015-11-29T17:54:20","guid":{"rendered":"http:\/\/robodk.com\/blog\/?page_id=15"},"modified":"2018-06-09T16:54:35","modified_gmt":"2018-06-09T23:54:35","slug":"%e7%a6%bb%e7%ba%bf%e7%bc%96%e7%a8%8b","status":"publish","type":"page","link":"https:\/\/robodk.com\/cn\/blog\/%e7%a6%bb%e7%ba%bf%e7%bc%96%e7%a8%8b\/","title":{"rendered":"\u673a\u5668\u4eba\u79bb\u7ebf\u7f16\u7a0b"},"content":{"rendered":"<p>\u6211\u4eec\u90fd\u77e5\u9053\u5728\u5b66\u4f1a\u5f00\u8f66\u4ee5\u540e\uff0c\u4e0d\u8bba\u9a7e\u9a76\u54ea\u4e2a\u54c1\u724c\u7684\u6c7d\u8f66\u90fd\u662f\u5dee\u4e0d\u591a\u7684\u64cd\u4f5c\u2014\u2014\u56e0\u4e3a\u6c7d\u8f66\u7684\u9a71\u52a8\u539f\u7406\u90fd\u662f\u4e00\u6837\u7684\u3002\u7535\u8111\u4e5f\u662f\u8fd9\u6837\uff0c\u5982\u679c\u4f60\u4f7f\u7528Windows\u7535\u8111\uff0c\u7528\u6237\u64cd\u4f5c\u754c\u9762\u4e0d\u4f1a\u56e0\u4e3a\u4f60\u9009\u62e9\u4e86\u4e0d\u540c\u724c\u5b50\u7684\u7535\u8111\u786c\u4ef6\u800c\u6539\u53d8\u3002\u4f46\u662f\uff0c\u5728\u5de5\u4e1a\u673a\u5668\u4eba\u7684\u4f7f\u7528\u4e0a\uff0c\u60c5\u51b5\u5b8c\u5168\u4e0d\u662f\u8fd9\u6837\u3002<\/p>\n<p>\u5de5\u4e1a\u673a\u5668\u4eba\u7684<span 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Basic\uff08Windows\uff09\u6765\u5b9e\u73b0\u673a\u5668\u4eba\u7f16\u7a0b\u3002<\/p>\n<p>\u7ed9ABB\u673a\u5668\u4eba\u7f16\u7a0b\u6bd4\u8f83\u7b80\u5355\uff0c\u5b83\u4eec\u4f7f\u7528RAPID\u7f16\u7a0b\u8bed\u8a00\uff0c\u4e0eVisual Basic\u6709\u4e9b\u7c7b\u4f3c\u3002ABB\u514d\u8d39\u63d0\u4f9b\u4e00\u6b3eRobotStudio\u8f6f\u4ef6\uff0c\u901a\u8fc7\u5b83\u5373\u53ef\u5bf9\u673a\u5668\u4eba\u8fdb\u884c\u5728\u7ebf\u7f16\u7a0b\uff0c\u7f16\u8f91RAPID\u7a0b\u5e8f\uff0c\u5e76\u4e14\u901a\u8fc7\u7f51\u7edc\u8fde\u63a5\u4e0ePC\u7535\u8111\u4e4b\u95f4\u4f20\u8f93\u7a0b\u5e8f\u6587\u4ef6\u3002\u53e6\u5916\uff0c\u4f60\u4e5f\u53ef\u4ee5\u8d2d\u4e70\u8f6f\u4ef6\u76843D\u4eff\u771f\u5668\u4e0e\u79bb\u7ebf\u7f16\u7a0b\u529f\u80fd\u3002<\/p>\n<p style=\"text-align: justify;\">\u5e93\u5361<span style=\"display: inline !important; float: none; background-color: transparent; color: #404040; cursor: text; font-family: 'Lato','Helvetica Neue',helvetica,arial,sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;\">\uff08KUKA\uff09<\/span>\u673a\u5668\u4eba\u4f7f\u7528\u7684\u662fKRL\uff08KUKA Robot Language\uff09\u8bed\u8a00\u7f16\u5199\u7684SRC\u7a0b\u5e8f\uff0c\u8be5\u7a0b\u5e8f\u53ef\u4ee5\u901a\u8fc7\u514d\u8d39\u7684OrangeEdit\u7f16\u8f91\u5668\u3001\u6216\u8005\u4ed8\u8d39\u7684<span style=\"display: inline !important; float: none; background-color: transparent; color: #404040; cursor: text; font-family: 'Lato','Helvetica Neue',helvetica,arial,sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;\">\u5e93\u5361<\/span>\u4eff\u771f\u5668Sim Pro\u7f16\u8bd1\u3002\u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0c\u5e93\u5361KRC4\u63a7\u5236\u5668\u662f\u4e00\u53f0\u57fa\u4e8eWindows\u7684\u7535\u8111\uff0c\u793a\u6559\u5668\u76f8\u5f53\u4e8e\u7535\u8111\u7684\u8fdc\u7a0b\u684c\u9762\u2014\u2014\u4f46\u662f\u7528\u793a\u6559\u5668\u4fee\u6539\u7a0b\u5e8f\u5374\u4e0d\u592a\u7075\u4fbf\uff0c\u89e6\u5c4f\u7684\u53cd\u5e94\u901f\u5ea6\u8fdc\u8fbe\u4e0d\u5230\u5e73\u677f\u7535\u8111\u6c34\u5e73\u3002\u53e6\u5916\uff0c<span style=\"display: inline !important; float: none; background-color: transparent; color: #404040; cursor: text; font-family: 'Lato','Helvetica Neue',helvetica,arial,sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;\">\u5e93\u5361<\/span>\u7684\u534f\u4f5c\u578b\u673a\u5668\u4ebaLBR iiwa\u4f7f\u7528\u7684\u662f\u7531<span style=\"display: inline !important; float: none; background-color: transparent; color: #404040; cursor: text; font-family: 'Lato','Helvetica Neue',helvetica,arial,sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;\">Java\u7f16\u7a0b<\/span>\u7684Sunrise\u63a7\u5236\u5668\uff0c\u5b83\u64cd\u4f5c\u8d77\u6765\u5c31\u6bd4\u8f83\u76f4\u89c2\u8ddf\u5feb\u901f\u3002<\/p>\n<p>\u5173\u4e8e\u4e0d\u540c\u7684\u673a\u5668\u4eba\u7f16\u7a0b\u8bed\u8a00\u6211\u4eec\u5c31\u5148\u8bf4\u5230\u8fd9\u91cc\uff0c\u56e0\u4e3a\u6765\u81ea\u5168\u7403\u6709\u81f3\u5c11\u51e0\u5341\u4e2a\u4e0d\u540c\u7684\u673a\u5668\u4eba\u751f\u4ea7\u5546\u3002\u6709\u4e9b\u54c1\u724c\u4e0d\u63d0\u4f9b\u79bb\u7ebf\u7f16\u7a0b\u8f6f\u4ef6\uff0c\u4f8b\u5982\u4f18\u50b2\uff08Universal Robots\uff09\u673a\u5668\u4eba\uff0c\u7528\u6237\u9700\u8981\u901a\u8fc7\u673a\u5668\u4eba\u7684\u793a\u6559\u5668\u754c\u9762\uff08\u4f18\u50b2\u7684\u8bbe\u8ba1\u975e\u5e38\u76f4\u89c2\uff0c\u4f46\u662f\u529f\u80fd\u4e5f\u6bd4\u8f83\u6709\u9650\uff09\uff0c\u6216\u4f7f\u7528ASCII\u7f16\u8f91\u5668\u7528UR\u811a\u672c\u8bed\u8a00\uff08\u57fa\u4e8ePython\uff09\u7f16\u7a0b\u3002\u5176\u4ed6\u673a\u5668\u4eba\u751f\u4ea7\u5546\u81f4\u529b\u4e8e\u5f00\u53d1\u8ba1\u7b97\u673a\u8f85\u52a9\u8bbe\u8ba1\uff08CAD\uff09\u8f6f\u4ef6\u63d2\u4ef6\uff0c\u6bd4\u5982\u65e5\u7acb\uff08Mitsubishi\uff09\u673a\u5668\u4eba\u7684MelfaWorks\u8f6f\u4ef6\u63d2\u4ef6\u53ef\u76f4\u63a5\u8fde\u63a5SolidWorks\u3002<\/p>\n<p style=\"text-align: justify;\">\u5de5\u4e1a\u673a\u5668\u4eba\u53d1\u5c55\u81f3\u4eca\uff0c\u6ca1\u6709\u4e00\u79cd\u7edf\u4e00\u7684\u673a\u5668\u4eba\u7f16\u7a0b\u65b9\u5f0f\u8ba9\u4eba\u611f\u5230\u5931\u671b\u3002\u6570\u63a7\u673a\u5e8a\u4f7f\u7528\u7684G\u4ee3\u7801\u7a0b\u5e8f\u572850\u5e74\u4ee3\u88ab\u5f15\u5165\uff0c\u5b83\u51fa\u73b0\u5728\u6570\u63a7\u6280\u672f\u4ea7\u751f\u540e\u4e0d\u4e45\uff0c\u73b0\u4eca\u5927\u90e8\u5206\u6570\u63a7\u673a\u5e8a\uff08CNC\uff09\u90fd\u4f7f\u7528G\u4ee3\u7801\u7f16\u7a0b\u3002\u4f46\u662f\u5bf9\u4e8e\u5de5\u4e1a\u673a\u5668\u4eba\u6765\u8bf4\u5374\u6ca1\u6709\u8fd9\u6837\u4e00\u6b3e\u901a\u7528\u7684\u7f16\u7a0b\u8bed\u8a00\u3002<\/p>\n<p style=\"text-align: justify;\">\u5f53\u4eca\u5e02\u573a\u4e0a\u6709<span style=\"display: inline !important; float: none; background-color: transparent; color: #404040; cursor: text; font-family: 'Lato','Helvetica Neue',helvetica,arial,sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;\">\u652f\u6301\u591a\u54c1\u724c\u673a\u5668\u4eba<\/span>\u7684\u79bb\u7ebf\u7f16\u7a0b\u5de5\u5177\uff0c\u6bcf\u6b3e\u8f6f\u4ef6\u4e5f\u5404\u6709\u81ea\u5df1\u7684\u4f18\u7f3a\u70b9\u3002\u4f46\u662f\uff0c\u8fd9\u4e9b\u5de5\u5177\u4e5f\u90fd\u8f83\u4e3a\u6602\u8d35\u3002\u514d\u8d39\u7684\u5de5\u5177\u6709\u4f8b\u5982Gazebo\uff08\u9700\u8981\u8ddfROS\u4e00\u8d77\u4f7f\u7528\uff09\uff0c\u4f46\u662f\u7528\u6237\u9700\u8981\u5177\u5907\u4e13\u5bb6\u7ea7\u7684\u7f16\u7a0b\u80fd\u529b\u3002\u800c\u4e14\u8be5\u8f6f\u4ef6\u662f\u9488\u5bf9\u5e7f\u4e49\u7684\u673a\u5668\u4eba\uff0c\u5bf9\u4e8e\u5de5\u4e1a\u673a\u5668\u4eba\u7684\u4eff\u771f\u4e0e\u79bb\u7ebf\u7f16\u7a0b\u9700\u8981\u4e0d\u592a\u8d34\u5408\u3002<\/p>\n<p style=\"text-align: justify;\">\u8fd9\u5c31\u662f\u6211\u4eec\u5f00\u53d1\u51faRoboDK\u8f6f\u4ef6\u7684\u539f\u56e0\uff1a\u5b83\u662f\u4e00\u6b3e\u4ef7\u683c\u5408\u7406\u7684\u5de5\u4e1a\u673a\u5668\u4eba\u4eff\u771f\u5de5\u5177\uff0c\u4e3a\u7528\u6237\u63d0\u4f9b\u76f4\u89c2\u7684\u7f16\u7a0b\u65b9\u5f0f\u3002\u4eff\u771f\u5668\u652f\u6301\u591a\u79cd\u5e94\u7528\uff0c\u4f8b\u5982\u53d6\u653e\uff0c\u55b7\u6d82\uff0c\u673a\u5668\u4eba\u52a0\u5de5\u7b49\u7b49\u3002\u8f6f\u4ef6\u5185\u7684\u4f18\u5316\u5de5\u5177\u53ef\u81ea\u52a8\u8f6c\u5316\u8ba1\u7b97\u673a\u8f85\u52a9\u52a0\u5de5\uff08CAM\uff09\u7a0b\u5e8f\uff0c\u751f\u6210\u673a\u5668\u4eba\u7a0b\u5e8f\u3002RoboDK\u662f\u4ece\u52a0\u62ff\u5927\u6700\u5927\u7684\u673a\u5668\u4eba\u7814\u7a76\u4e2d\u5fc3\u4e4b\u4e00\u7684CoRo\u5b9e\u9a8c\u5ba4\u62c6\u5206\u51fa\u6765\u7684\u72ec\u7acb\u516c\u53f8\uff0c\u5728\u5404\u4e3b\u8981\u54c1\u724c\u7684\u673a\u5668\u4eba\u4e0a\u90fd\u5b8c\u6210\u4e86\u6d4b\u8bd5\u3002<\/p>\n<p style=\"text-align: justify;\">RoboDK\u7684\u673a\u5668\u4eba\u6a21\u578b\u5e93\u5305\u62ec300\u591a\u6b3e\u6765\u81ea30\u591a\u4e2a\u54c1\u724c\u7684\u5de5\u4e1a\u673a\u5668\u4eba\uff0c\u6211\u4eec\u4e5f\u6709\u610f\u5411\u4e3a\u65b0\u7684\u673a\u5668\u4eba\u54c1\u724c\u63d0\u4f9b\u652f\u6301\u3002\u4efb\u4f55\u673a\u5668\u4eba\u54c1\u724c\u7684\u751f\u4ea7\u5546\u90fd\u53ef\u4ee5\u5728\u6211\u4eec\u7684\u6a21\u578b\u5e93\u4e2d\u6dfb\u52a0\u4ed6\u4eec\u7684\u673a\u5668\u4eba\uff0c\u4e3a\u673a\u5668\u4eba\u7684\u79bb\u7ebf\u6216\u5728\u7ebf\u7f16\u7a0b\u63d0\u4f9b\u63a5\u53e3\u3002\u79bb\u7ebf\u7f16\u7a0b\u901a\u8fc7\u9488\u5bf9\u6bcf\u4e2a\u54c1\u724c\u7684\u201c\u540e\u7f6e\u5904\u7406\u5668\u201d\u5b8c\u6210\uff0c\u800c\u5728\u7ebf\u7f16\u7a0b\u9700\u8981\u901a\u8fc7\u4e00\u4e2a\u8fde\u63a5\u673a\u5668\u4eba\u786c\u4ef6\u4e0e\u673a\u5668\u4eba\u4eff\u771f\u5668\u7684\u9a71\u52a8\u5668\u5b9e\u73b0\u3002\u5728\u7ebf\u7f16\u7a0b\u53ef\u5b9e\u73b0\u5206\u6b65\u9aa4\u8fd0\u884c\u673a\u5668\u4eba\u7a0b\u5e8f\u3001\u8bfb\u53d6\u673a\u5668\u4eba\u4f4d\u7f6e\u6216\u53d1\u9001\u79fb\u52a8\u673a\u5668\u4eba\u6307\u4ee4\u3002\u4e0b\u9762\u7684\u89c6\u9891\u6f14\u793a\u4e86\u4f18\u50b2UR10\u673a\u5668\u4eba\u7684\u5728\u7ebf\u7f16\u7a0b\u3002<\/p>\n<p><iframe loading=\"lazy\" title=\"UR10 online programming step by step - RoboDK\" width=\"735\" height=\"413\" src=\"https:\/\/www.youtube.com\/embed\/pCD--kokh4s?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe><\/p>\n<p>RoboDK\u7684\u72ec\u7279\u4e4b\u5904\u5728\u4e8e\uff0c\u4f60\u53ef\u4ee5\u901a\u8fc7Python\u4e0eRoboDK\u7684\u5e94\u7528\u7a0b\u5e8f\u63a5\u53e3\uff08API\uff09\u7ed9\u4efb\u4f55\u673a\u5668\u4eba\u7f16\u7a0b\u3002Python\u63d0\u4f9b\u5f3a\u5927\u7684\u51fd\u6570\u5de5\u5177\u5e93\uff0c\u4f8b\u5982\uff0c\u8f6c\u5316SVG\u56fe\u50cf\u6210\u4e3a\u673a\u5668\u4eba\u7684XY\u5750\u6807\u3002\u4ee5\u4e0b\u51e0\u884c\u7a0b\u5e8f\u5c31\u662f\u7ed3\u5408<span style=\"display: inline !important; float: none; background-color: transparent; color: #404040; cursor: text; font-family: 'Lato','Helvetica Neue',helvetica,arial,sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; -webkit-text-stroke-width: 0px; white-space: normal; word-spacing: 0px;\">RoboDK\u7684API\u4e0e<\/span>Python\u7684\u9762\u5411\u5bf9\u8c61\u7f16\u7a0b\u7684\u8303\u4f8b\uff1a<\/p>\n<pre class=\"prettyprint lang-python linenums:1\"><span style=\"font-family: consolas; font-size: x-small;\"># \u76ee\u6807\u5bf9\u8c61\u662f\u4e00\u4e2a\u673a\u5668\u4eba\r\n# \u76ee\u6807\u70b9\u901a\u8fc7\u4e00\u4e2a4x4\u7684\u77e9\u9635\u8868\u793a\uff0c\u5b9a\u4e49\u65b9\u4f4d\uff08\u4f4d\u7f6e\u548c\u65b9\u5411\uff09\r\nrobot.MoveJ(target*transl(0,0,-100))    # \u901a\u8fc7\u5173\u8282\u79fb\u52a8\uff0c\u5c06\u673a\u5668\u4eba\u79fb\u52a8\u81f3\u201c\u63a5\u8fd1\u76ee\u6807\u70b9\u201d\r\nrobot.MoveL(target)                     # \u901a\u8fc7\u7ebf\u6027\u79fb\u52a8\uff0c\u5c06\u673a\u5668\u4eba\u79fb\u52a8\u81f3\u76ee\u6807\u70b9\r\nCloseGripper()                          # \u7528\u6237\u81ea\u5b9a\u4e49\u52a8\u4f5c\uff0c\u6bd4\u5982\u6293\u53d6\u96f6\u4ef6\r\nrobot.MoveL(target*transl(0,0,-100))    # \u79fb\u52a8\u673a\u5668\u4eba\u56de\u5230\u201c\u63a5\u8fd1\u76ee\u6807\u70b9\u201d<\/span>\r\n<\/pre>\n<p><script src=\"https:\/\/google-code-prettify.googlecode.com\/svn\/loader\/run_prettify.js?lang=python&amp;skin=sons-of-obsidian\"><\/script><\/p>\n<p>\u4ee5\u4e0a\u5c0f\u6bb5\u7a0b\u5e8f\u5c06\u673a\u5668\u4eba\u5b89\u5168\u79fb\u52a8\u5230\u76ee\u6807\u70b9\uff08\u524d\u540e\u90fd\u7ecf\u8fc7\u201c\u63a5\u8fd1\u76ee\u6807\u70b9\u201d\u786e\u4fdd\u673a\u5668\u4eba\u4ee5\u6070\u5f53\u7684\u89d2\u5ea6\u63a5\u8fd1\u76ee\u6807\uff09\u3002\u6211\u4eec\u7684\u8f6f\u4ef6\u4e2d\u5305\u62ec\u66f4\u591a\u7684\u4f8b\u5b50\uff0c\u6709\u7684\u9700\u8981Python\u7f16\u7a0b\uff0c\u6709\u7684\u5219\u4e0d\u9700\u8981\u3002<\/p>\n<p><a href=\"http:\/\/robodk.com\/blog\/wp-content\/uploads\/2015\/11\/workspace.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignleft wp-image-22\" title=\"\u673a\u5668\u4eba\u5de5\u4f5c\u7a7a\u95f4\" src=\"http:\/\/robodk.com\/blog\/wp-content\/uploads\/2015\/11\/workspace-300x249.jpg\" alt=\"\u673a\u5668\u4eba\u5de5\u4f5c\u7a7a\u95f4\" width=\"304\" height=\"253\" srcset=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2015\/11\/workspace-300x249.jpg 300w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2015\/11\/workspace-1024x849.jpg 1024w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2015\/11\/workspace.jpg 1091w\" sizes=\"auto, (max-width: 304px) 100vw, 304px\" \/><\/a>\u6211\u4eec\u76f8\u4fe1\uff0c\u5c06\u6709\u4e00\u5929\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u53ef\u4ee5\u4f7f\u7528\u4e00\u4e2a\u56fd\u9645\u901a\u7528\u7684\u8bed\u8a00\u4f8b\u5982Python\u6765\u7ed9\u4efb\u4f55\u54c1\u724c\u7684\u673a\u5668\u4eba\u7f16\u7a0b\u3002\u7f16\u7a0b\u4eba\u5458\u8ddf\u673a\u5668\u4eba\u7528\u6237\u5c06\u6b22\u8fce\u8fd9\u4e2a\u9009\u9879\uff0c\u56e0\u4e3a\u8fd9\u610f\u5473\u7740\u4ed6\u4eec\u4e0d\u518d\u9700\u8981\u4f9d\u8d56\u540c\u4e00\u54c1\u724c\u7684\u5de5\u5177\u3002\u6211\u4eec\u5411Mecademic\uff08\u4e5f\u662fCoRo\u5b9e\u9a8c\u5ba4\u7684\u62c6\u5206\u516c\u53f8\uff09<span style=\"display: inline !important; float: none; background-color: transparent; color: #404040; cursor: text; font-family: 'Lato','Helvetica Neue',helvetica,arial,sans-serif; font-size: 16px; font-style: normal; font-variant: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: left; text-decoration: none; text-indent: 0px; text-transform: none; 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