MTB_robot add suction pad << Previous Next >> Python remote API 逆向運動學函式
逆向運動學函式

影片:
主程式:
function sysCall_init() 
    axis1=sim.getObjectHandle('MTB_axis1')
    axis2=sim.getObjectHandle('MTB_axis2')
    axis3=sim.getObjectHandle('MTB_axis3')
    axis4=sim.getObjectHandle('MTB_axis4')
    mtb3=sim.getObjectHandle('link3')
    suctionPad=sim.getObjectHandle('suctionPad')
    BaseFrame=sim.getObjectHandle("BaseFrame")
    block =sim.getObjectHandle("Cuboid")
    rotation1 = 0
    rotation2 = 0
    distance3 = 0
    modelBase=sim.getObjectHandle(sim.handle_self)
    robotBase=modelBase
    robotName='suctionPad'
    deg = math.pi/180
     
end
function sysCall_actuation() 
    calibration = 0.0042
    message, auxiliaryData=sim.getSimulatorMessage()
        while message ~= -1 do
            key=auxiliaryData[1]
            sim.addStatusbarMessage('????? key:'..key)
            if (message==sim.message_keypress) then
            if (auxiliaryData[1]==112) then --p activate the suction pad
                sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),"active",'true')
                end -- if p
                if (auxiliaryData[1]==113) then --q deactivate the suction pad
                sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','false')
                end -- if q
                if (auxiliaryData[1]==49) then  
                     rotation1 = 67.8
                     rotation2 = 44.76
                     sim.setJointPosition(axis1, rotation1)
                     sim.setJointPosition(axis2, rotation2)
                end -- if 1
                if (auxiliaryData[1]==50) then  
                     rotation1 = -279.64
                     rotation2 = -49.9
                     sim.setJointPosition(axis1, rotation2)
                     sim.setJointPosition(axis2, rotation1)
                end -- if 2
                if (auxiliaryData[1]==100) then  
                     distance3 = distance3 + 0.03 + calibration
                     sim.setJointPosition(axis4, distance3)
                     --轉軸旋轉 distance3 的數值 (逆轉)
                end -- if d
                if (auxiliaryData[1]==117) then 
                     distance3 = distance3 - 0.03 - calibration
                     sim.setJointPosition(axis4, distance3)
                     --轉軸旋轉 distance3 的數值 (順轉)
                end -- if u 
           end  -- if
    message, auxiliaryData=sim.getSimulatorMessage()
        end -- while
end -- function
function sysCall_sensing()
    -- put your sensing code here
end
function sysCall_cleanup()
    -- do some clean-up here
end
 
-- See the user manual or the available code snippets for additional callback functions and details
MTB_robot add suction pad << Previous Next >> Python remote API 逆向運動學函式