WKlata Mirobot Python SDK
Project description
wlkata-mirobot-python
勤牛智能 Mirobot六自由度机械臂 Python SDK
安装包
Windows
通过pip安装
.. code:: bash
pip install wlkata-mirobot-python
从源码编译安装
::
python -m pip install .
Ubuntu
~~~~~~
通过pip安装
.. code:: bash
sudo pip3 install wlkata-mirobot-python
从源码编译安装
::
sudo python3 -m pip install .
准备工作
--------
- 将机械臂上电并连接到电脑的USB端口处
- 电脑安装好了CH340的驱动
- 安装好了Mirobot的Python SDK
快速入手
--------
.. code:: python
'''
机械臂腕关节的位置控制, 点控P2P(point to point)模式
'''
import time
from wlkata_mirobot import WlkataMirobot
# 创建机械臂
arm = WlkataMirobot()
# 回归机械零点 Homing (同步模式)
arm.home()
print("运动到目标点 A")
arm.set_tool_pose(200, 20, 230)
print(f"当前末端在机械臂坐标系下的位姿 {arm.pose}")
time.sleep(1)
print("运动到目标点 B")
arm.set_tool_pose(200, 20, 150)
print(f"当前末端在机械臂坐标系下的位姿 {arm.pose}")
time.sleep(1)
print("运动到目标点 C, 指定末端的姿态角")
arm.set_tool_pose(150, -20, 230, roll=30.0, pitch=0, yaw=45.0)
print(f"当前末端在机械臂坐标系下的位姿 {arm.pose}")
使用手册
--------
详细的API说明与示例代码， 请参阅
``doc/WLKATA MIROBOT Python SDK使用手册/``
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