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python自动计算机器人（python实现nao机器人手臂动作控制）

更多时间：2021-10-13 00:46:53 类别：脚本大全浏览量：468

python自动计算机器人

python实现nao机器人手臂动作控制

本文实例为大家分享了python实现nao机器人手臂动作的具体代码，供大家参考，具体内容如下

这些天依然在看nao公司文档的东西，把读过的代码顺手敲了出来。代码依然很简单，但是为什么我要写博客呢？这其中有很大的原因在于，代码是死的，可是读着读着就感觉代码活了，而且，每次读都会有不同的感受。咱就直接看正题吧。

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62 #-*-encoding:utf-8-*-

import sys

import motion

import almath

from naoqi import alproxy

def stiffnesson(proxy):

#we use the body name to signify the collection of all jionts

pname="body"

pstiffnesslists=1.0

ptimelists=1.0

proxy.stiffnessinterpolation(pname,pstiffnesslists,ptimelists)

def main(robotip):

''' example showing a path of two position

'''

try:

motionproxy=alproxy("almotion",robotip,9559)

except exception ,e:

print"could not create a proxy to almotion"

print str(e)

try:

postureproxy=alproxy("alrobotposture",robotip,9559)

except exception ,e:

print"could not create a proxy to alrobotposture"

print str(e)

#set the nao stiffness on

stiffnesson(motionproxy)

#set the nao to standinit

postureproxy.gotoposture("standinit",0.5)

effector="larm"

space=motion.frame_robot

# axis_mask_vel=7

axismask=almath.axis_mask_vel

isabsolute=false

#since we are in relative, the current position is zero

currentpos=[0.0,0.0,0.0,0.0,0.0,0.0]

#define the changes in relative to the current position

dx=0.03 #translation axis x

dy=0.03 #translation axis y

dz=0.00 #translation axis z

dwx=0.00 #rotation axis x

dwy=0.00 #rotation axis x

dwz=0.00 #rotation axis x

targetpos=[dx,dy,dz,dwx,dwy,dwz]

#go to the target and back again

path=[targetpos,currentpos]

times=[2.0,4.0]#seconds

motionproxy.positioninterpolation(effector,space,path,axismask,times,isabsolute)

if __name__=="__main()__":

robotip="127.0.0.1"

if len(sys.argv)<=1:

print "use default :127.0.0.1"

else:

robotip=sys.argv[1]

main(robotip)

接下来是另一个：

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57 #-*-encoding:utf-8-*-

''' cartesian control :arm trajectory example'''

import sys

import motion

import almath

from naoqi import alproxy

def stiffnesson(proxy):

pname="body"

pstiffnesslists=1.0

ptimelists=1.0

proxy.stiffnessinterpolation(pname,pstiffnesslists,ptimelists)

def main(robotip):

'''showing a hand ellipoid

'''

try:

motionproxy=alproxy("alproxy",robotip,9559)

except exception,e:

print"could not create a proxy "

print"error was ",e

try:

postureproxy=alproxy("alrobotproxy",robotip,9559)

except exception ,e:

print"could not create a proxy"

print "error was",e

#send nao in stiffness on

setstiffnesson(motionproxy)

#send nao to pose init

postureproxy.gotoposture("standinit",0.5)

effector="larm"

space=motion.frame_robot

path=[

[0.0,-0.05,+0.00,0.0,0.0,0.0], #pose1

[0.0,+0.00,+0.04,0.0,0.0,0.0], #pose2

[0.0,+0.04,+0.00,0.0,0.0,0.0], #pose3

[0.0,+0.00,-0.02,0.0,0.0,0.0], #pose4

[0.0,-0.05,+0.00,0.0,0.0,0.0], #pose5

[0.0,+0.00,+0.00,0.0,0.0,0.0]

] #pose6

axismask=7

times=[0.5,1.0,2.0,3.0,4.0,4.5] #seconds

isabsolute=false

motionproxy.positioninterpolation(effector,space,path,axismask,times,isabsolute)

if __name__=="__main__":

robotip="127.0.0.1"

if len(sys.argv)<=1:

print "usage local ip "

else:

robotip=sys.argv[1]

main(robotip)

以上就是本文的全部内容，希望对大家的学习有所帮助，也希望大家多多支持开心学习网。

原文链接：https://blog.csdn.net/u011181878/article/details/21392201

标签：Python 机器人 NAO

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