task2-2

利用Python Remote API，控制機械手臂。
程式:
import sim as vrep
import sys
import math
# child threaded script: 
#simExtRemoteApiStart(19999)
 
vrep.simxFinish(-1)
 
clientID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
 
if clientID!= -1:
    print("Connected to remote server")
else:
    print('Connection not successful')
    sys.exit('Could not connect')

vrep.simxStartSimulation(clientID, vrep.simx_opmode_oneshot)

RC1, UR5_joint1_Handle = vrep.simxGetObjectHandle(clientID, 'Dobot_motor1', vrep.simx_opmode_blocking)
RC2, UR5_joint2_Handle = vrep.simxGetObjectHandle(clientID, 'Dobot_motor2', vrep.simx_opmode_blocking)
RC3, UR5_joint3_Handle = vrep.simxGetObjectHandle(clientID, 'Dobot_motor3', vrep.simx_opmode_blocking)
RC4, UR5_joint4_Handle = vrep.simxGetObjectHandle(clientID, 'Dobot_motor4', vrep.simx_opmode_blocking)

vrep.simxSetJointTargetPosition(clientID,UR5_joint1_Handle,0*math.pi/180,vrep.simx_opmode_oneshot)
vrep.simxSetJointTargetPosition(clientID,UR5_joint2_Handle,0*math.pi/180,vrep.simx_opmode_oneshot)
vrep.simxSetJointTargetPosition(clientID,UR5_joint3_Handle,0*math.pi/180,vrep.simx_opmode_oneshot)
vrep.simxSetJointTargetPosition(clientID,UR5_joint4_Handle,0*math.pi/180,vrep.simx_opmode_oneshot)
影片:
W11 << Previous Next >> W12