API

다음코드는필터 타겟명령을사용하여 RoboDK API를사용하여대상(포즈대상또는조인트대상)을필터링하는예제 Python 스크립트입니다.

pose_filt, joints = robot.FilterTarget(nominal_pose, estimated_joints)

이예제는타사응용프로그램(RoboDK 이외)이포즈대상을사용하여로봇프로그램을생성하는경우에유용합니다.

from robolink import *    # API to communicate with RoboDK

from robodk import *      # basic matrix operations

def XYZWPR_2_Pose(xyzwpr):

    return KUKA_2_Pose(xyzwpr) # Convert X,Y,Z,A,B,C to a pose

def Pose_2_XYZWPR(pose):

    return Pose_2_KUKA(pose) # Convert a pose to X,Y,Z,A,B,C

# Start the RoboDK API and retrieve the robot:

RDK = Robolink()

robot = RDK.Item('', ITEM_TYPE_ROBOT)

if not robot.Valid():

    raise Exception("Robot not available")

pose_tcp = XYZWPR_2_Pose([0, 0, 200, 0, 0, 0]) # Define the TCP

pose_ref = XYZWPR_2_Pose([400, 0, 0, 0, 0, 0]) # Define the Ref Frame

# Update the robot TCP and reference frame

robot.setTool(pose_tcp)

robot.setFrame(pose_ref)

# Very important for SolveFK and SolveIK (Forward/Inverse kinematics)

robot.setAccuracyActive(False) # Accuracy can be ON or OFF

# Define a nominal target in the joint space:

joints = [0, 0, 90, 0, 90, 0]

# Calculate the nominal robot position for the joint target:

pose_rob = robot.SolveFK(joints) # robot flange wrt the robot base

# Calculate pose_target: the TCP with respect to the reference frame

pose_target = invH(pose_ref)*pose_rob*pose_tcp

print('Target not filtered:')

print(Pose_2_XYZWPR(pose_target))

joints_approx = joints # joints_approx must be within 20 deg

pose_target_filt, real_joints = robot.FilterTarget(pose_target, joints)

print('Target filtered:')

print(real_joints.tolist())

print(Pose_2_XYZWPR(pose_target_filt))