public void csvrun() { JKTYPE.JointValue home_pos = new JKTYPE.JointValue(); home_pos.jVal = new double[] { 1.18, 1.85, -2.49, 2.76, 1.70, 0.50 }; DataTable cvD1 = CSVFileHelper.ReadCSV("qwe.csv"); int i = 0; int a; a = jakaAPI.create_handler("192.168.2.18".ToCharArray(), ref i); //替换自己的ip Console.WriteLine($"机器人控制句柄{i}创建: {a}"); jakaAPI.power_on(ref i); //机器人上电 jakaAPI.enable_robot(ref i); //机器人上使能 jakaAPI.set_rapidrate(ref i, 1); //设置机器人运行倍率 Console.WriteLine("home"); jakaAPI.joint_move(ref i, ref home_pos, JKTYPE.MoveMode.ABS, true, 0.5); foreach (DataRow dr in cvD1.Rows) { int b; JKTYPE.CartesianPose pose = new JKTYPE.CartesianPose(); pose.tran.x = double.Parse(dr[0].ToString()); pose.tran.y = double.Parse(dr[1].ToString()); pose.tran.z = 200.0; pose.rpy.rx = 3.14; pose.rpy.ry = 0; pose.rpy.rz = 0; Console.WriteLine(pose.tran.x); Console.WriteLine(pose.tran.y); JKTYPE.OptionalCond jc = new JKTYPE.OptionalCond(); b = jakaAPI.linear_move_extend(ref i, ref pose, JKTYPE.MoveMode.ABS, false, 50, 100, 1, ref jc); Console.WriteLine(b); Console.WriteLine(pose.tran.x.GetType().Name); } }
public static extern int joint_move_extend(ref int i, ref JKTYPE.JointValue joint_pos, JKTYPE.MoveMode move_mode, bool is_block, double speed, double acc, double tol, ref JKTYPE.OptionalCond option_cond);
public static extern int kine_forward(ref int handle, ref JKTYPE.JointValue joint_pos, ref JKTYPE.CartesianPose cartesian_pose);
public static extern int kine_inverse(ref int handle, ref JKTYPE.JointValue ref_pos, ref JKTYPE.CartesianPose cartesian_pose, ref JKTYPE.JointValue joint_pos);
public static extern int get_joint_position(ref int handle, ref JKTYPE.JointValue joint_position);
public static extern int servo_j(ref int handle, ref JKTYPE.JointValue joint_pos, JKTYPE.MoveMode move_mode);
public static extern int joint_move(ref int handle, ref JKTYPE.JointValue joint_pos, JKTYPE.MoveMode move_mode, bool is_block, double speed);