private KUKARobot InitializeRobot2() { //TODO: limity dla drugiego robota! RobotLimits limits = null; KUKARobot robot2 = new KUKARobot(8082, limits); //robot2Panel.SetKUKARobot(robot2); robot2.Initialize(); return(robot2); }
private KUKARobot InitializeRobot1() { WorkspaceLimits workspaceLimits = new WorkspaceLimits( X: (-250, 250), Y: (700, 950), Z: (150, 400) ); AxisLimits axisLimits = new AxisLimits( A1: (-360, 360), A2: (-360, 360), A3: (-360, 360), A4: (-360, 360), A5: (-360, 360), A6: (-360, 360) ); RobotLimits limits = new RobotLimits(workspaceLimits, axisLimits, (2.7, 0.05)); KUKARobot robot1 = new KUKARobot(8081, limits); var rotationMatrix = Matrix <double> .Build.DenseOfArray(new double[, ] { { -0.009, 0.001, -1.0 }, { -1.0, -0.002, 0.009 }, { -0.002, 1.0, 0.001 } }); var translationVector = Vector <double> .Build.DenseOfArray(new double[] { 791.016, 743.144, 148.319 }); robot1Panel.AssignRobot(robot1); robot1.OptiTrackTransformation = new Transformation(rotationMatrix, translationVector); robot1.Initialize(); return(robot1); }