{"id":54072,"date":"2025-08-12T21:49:54","date_gmt":"2025-08-12T13:49:54","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/54072.html"},"modified":"2025-08-12T21:49:54","modified_gmt":"2025-08-12T13:49:54","slug":"%e7%b2%be%e5%af%86%e8%a3%85%e9%85%8d%e6%9c%ba%e5%99%a8%e4%ba%ba%e7%b3%bb%e5%88%97%e7%bc%96%e7%a8%8b%ef%bc%9akuka-kr-3-agilus_%ef%bc%8813%ef%bc%89-%e5%a4%8d%e6%9d%82%e8%a3%85%e9%85%8d%e4%bb%bb%e5%8a%a1","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/54072.html","title":{"rendered":"\u7cbe\u5bc6\u88c5\u914d\u673a\u5668\u4eba\u7cfb\u5217\u7f16\u7a0b\uff1aKUKA KR 3 AGILUS_\uff0813\uff09.\u590d\u6742\u88c5\u914d\u4efb\u52a1\u7684\u6848\u4f8b\u5206\u6790"},"content":{"rendered":"<h3>\u590d\u6742\u88c5\u914d\u4efb\u52a1\u7684\u6848\u4f8b\u5206\u6790<\/h3>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/08\/20250812134949-689b467dbe5af.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h4>\u5f15\u8a00<\/h4>\n<p>\u5728\u6c7d\u8f66\u96f6\u90e8\u4ef6\u5236\u9020\u884c\u4e1a\u4e2d&#xff0c;\u7cbe\u5bc6\u88c5\u914d\u4efb\u52a1\u7684\u590d\u6742\u6027\u5f80\u5f80\u8981\u6c42\u673a\u5668\u4eba\u5177\u5907\u9ad8\u5ea6\u7684\u7075\u6d3b\u6027\u548c\u7cbe\u786e\u6027\u3002\u672c\u8282\u5c06\u901a\u8fc7\u5177\u4f53\u7684\u6848\u4f8b\u5206\u6790&#xff0c;\u63a2\u8ba8\u5982\u4f55\u5229\u7528KUKA KR 3 AGILUS\u673a\u5668\u4eba\u5b8c\u6210\u590d\u6742\u7684\u88c5\u914d\u4efb\u52a1\u3002\u6211\u4eec\u5c06\u8be6\u7ec6\u8ba8\u8bba\u4efb\u52a1\u7684\u89c4\u5212\u3001\u7f16\u7a0b\u7b56\u7565\u3001\u4f20\u611f\u5668\u96c6\u6210\u548c\u8c03\u8bd5\u65b9\u6cd5&#xff0c;\u5e2e\u52a9\u8bfb\u8005\u7406\u89e3\u5982\u4f55\u5728\u5b9e\u9645\u751f\u4ea7\u4e2d\u5e94\u7528\u8fd9\u4e9b\u6280\u672f\u3002<\/p>\n<h4>\u6848\u4f8b1&#xff1a;\u7cbe\u5bc6\u9f7f\u8f6e\u88c5\u914d<\/h4>\n<h5>\u4efb\u52a1\u63cf\u8ff0<\/h5>\n<p>\u5728\u6c7d\u8f66\u5236\u9020\u4e2d&#xff0c;\u7cbe\u5bc6\u9f7f\u8f6e\u7684\u88c5\u914d\u662f\u4e00\u9879\u5173\u952e\u4efb\u52a1\u3002\u9f7f\u8f6e\u7684\u5c3a\u5bf8\u548c\u516c\u5dee\u8981\u6c42\u975e\u5e38\u9ad8&#xff0c;\u4efb\u4f55\u5fae\u5c0f\u7684\u8bef\u5dee\u90fd\u53ef\u80fd\u5bfc\u81f4\u6574\u4e2a\u7cfb\u7edf\u7684\u5931\u6548\u3002\u672c\u6848\u4f8b\u5c06\u5206\u6790\u5982\u4f55\u4f7f\u7528KUKA KR 3 AGILUS\u673a\u5668\u4eba\u5b8c\u6210\u7cbe\u5bc6\u9f7f\u8f6e\u7684\u88c5\u914d\u4efb\u52a1\u3002<\/p>\n<h5>\u4efb\u52a1\u89c4\u5212<\/h5>\n<li>\n<p>\u5de5\u4f5c\u73af\u5883\u8bbe\u7f6e&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u786e\u5b9a\u673a\u5668\u4eba\u5de5\u4f5c\u533a\u57df\u7684\u5927\u5c0f\u548c\u5e03\u5c40\u3002<\/p>\n<\/li>\n<li>\n<p>\u5b89\u88c5\u5fc5\u8981\u7684\u5939\u5177\u548c\u8f93\u9001\u88c5\u7f6e&#xff0c;\u786e\u4fdd\u96f6\u4ef6\u7684\u51c6\u786e\u8f93\u9001\u548c\u5b9a\u4f4d\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u96f6\u4ef6\u8bc6\u522b\u4e0e\u5b9a\u4f4d&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528\u89c6\u89c9\u4f20\u611f\u5668\u8bc6\u522b\u548c\u5b9a\u4f4d\u9f7f\u8f6e\u96f6\u4ef6\u3002<\/p>\n<\/li>\n<li>\n<p>\u901a\u8fc7\u529b\u4f20\u611f\u5668\u68c0\u6d4b\u9f7f\u8f6e\u7684\u88c5\u914d\u72b6\u6001&#xff0c;\u786e\u4fdd\u88c5\u914d\u8fc7\u7a0b\u4e2d\u65e0\u8bef\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u88c5\u914d\u8def\u5f84\u89c4\u5212&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u6839\u636e\u9f7f\u8f6e\u7684\u7ed3\u6784\u548c\u88c5\u914d\u8981\u6c42&#xff0c;\u89c4\u5212\u673a\u5668\u4eba\u7684\u88c5\u914d\u8def\u5f84\u3002<\/p>\n<\/li>\n<li>\n<p>\u4f18\u5316\u8def\u5f84\u4ee5\u51cf\u5c11\u88c5\u914d\u65f6\u95f4&#xff0c;\u63d0\u9ad8\u751f\u4ea7\u6548\u7387\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<h5>\u7f16\u7a0b\u7b56\u7565<\/h5>\n<li>\n<p>\u89c6\u89c9\u4f20\u611f\u5668\u96c6\u6210&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528KUKA VisionSensor\u6a21\u5757\u8fdb\u884c\u96f6\u4ef6\u8bc6\u522b\u548c\u5b9a\u4f4d\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u5bfc\u5165KUKA VisionSensor\u6a21\u5757<\/span><\/p>\n<p><span class=\"token keyword\">from<\/span> kuka<span class=\"token punctuation\">.<\/span>vision <span class=\"token keyword\">import<\/span> VisionSensor<\/p>\n<p><span class=\"token comment\"># \u521d\u59cb\u5316\u89c6\u89c9\u4f20\u611f\u5668<\/span><\/p>\n<p>vision_sensor <span class=\"token operator\">&#061;<\/span> VisionSensor<span class=\"token punctuation\">(<\/span>camera_ip<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;192.168.1.100&#034;<\/span><span class=\"token punctuation\">,<\/span> camera_port<span class=\"token operator\">&#061;<\/span><span class=\"token number\">5000<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u6355\u6349\u56fe\u50cf\u5e76\u8fdb\u884c\u5904\u7406<\/span><\/p>\n<p>image <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>capture_image<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>gear_position <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>detect_gear<span class=\"token punctuation\">(<\/span>image<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u8f93\u51fa\u9f7f\u8f6e\u4f4d\u7f6e<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Detected gear position:&#034;<\/span><span class=\"token punctuation\">,<\/span> gear_position<span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u529b\u4f20\u611f\u5668\u96c6\u6210&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528KUKA ForceSensor\u6a21\u5757\u68c0\u6d4b\u88c5\u914d\u8fc7\u7a0b\u4e2d\u7684\u529b\u53cd\u9988\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u5bfc\u5165KUKA ForceSensor\u6a21\u5757<\/span><\/p>\n<p><span class=\"token keyword\">from<\/span> kuka<span class=\"token punctuation\">.<\/span>sensors <span class=\"token keyword\">import<\/span> ForceSensor<\/p>\n<p><span class=\"token comment\"># \u521d\u59cb\u5316\u529b\u4f20\u611f\u5668<\/span><\/p>\n<p>force_sensor <span class=\"token operator\">&#061;<\/span> ForceSensor<span class=\"token punctuation\">(<\/span>sensor_ip<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;192.168.1.101&#034;<\/span><span class=\"token punctuation\">,<\/span> sensor_port<span class=\"token operator\">&#061;<\/span><span class=\"token number\">5001<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u68c0\u6d4b\u88c5\u914d\u8fc7\u7a0b\u4e2d\u7684\u529b\u53cd\u9988<\/span><\/p>\n<p>force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">while<\/span> force <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">10.0<\/span><span class=\"token punctuation\">:<\/span>  <span class=\"token comment\"># \u5047\u8bbe10.0N\u662f\u88c5\u914d\u5b8c\u6210\u7684\u9608\u503c<\/span><\/p>\n<p>    force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># \u8c03\u6574\u88c5\u914d\u4f4d\u7f6e\u548c\u529b\u5ea6<\/span><\/p>\n<p>    robot<span class=\"token punctuation\">.<\/span>adjust_position_and_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u8def\u5f84\u89c4\u5212\u4e0e\u4f18\u5316&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528KUKA PathPlanner\u6a21\u5757\u8fdb\u884c\u8def\u5f84\u89c4\u5212\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u5bfc\u5165KUKA PathPlanner\u6a21\u5757<\/span><\/p>\n<p><span class=\"token keyword\">from<\/span> kuka<span class=\"token punctuation\">.<\/span>path_planner <span class=\"token keyword\">import<\/span> PathPlanner<\/p>\n<p><span class=\"token comment\"># \u521d\u59cb\u5316\u8def\u5f84\u89c4\u5212\u5668<\/span><\/p>\n<p>path_planner <span class=\"token operator\">&#061;<\/span> PathPlanner<span class=\"token punctuation\">(<\/span>robot_model<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;KR 3 AGILUS&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u5b9a\u4e49\u8d77\u59cb\u548c\u76ee\u6807\u4f4d\u7f6e<\/span><\/p>\n<p>start_position <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p>target_position <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p><span class=\"token comment\"># \u89c4\u5212\u8def\u5f84<\/span><\/p>\n<p>path <span class=\"token operator\">&#061;<\/span> path_planner<span class=\"token punctuation\">.<\/span>plan_path<span class=\"token punctuation\">(<\/span>start_position<span class=\"token punctuation\">,<\/span> target_position<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u4f18\u5316\u8def\u5f84<\/span><\/p>\n<p>optimized_path <span class=\"token operator\">&#061;<\/span> path_planner<span class=\"token punctuation\">.<\/span>optimize_path<span class=\"token punctuation\">(<\/span>path<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u8f93\u51fa\u4f18\u5316\u540e\u7684\u8def\u5f84<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Optimized path:&#034;<\/span><span class=\"token punctuation\">,<\/span> optimized_path<span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<h5>\u5b9e\u65bd\u6b65\u9aa4<\/h5>\n<li>\n<p>\u73af\u5883\u914d\u7f6e&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u786e\u4fdd\u673a\u5668\u4eba\u548c\u4f20\u611f\u5668\u7684\u4f4d\u7f6e\u6b63\u786e\u3002<\/p>\n<\/li>\n<li>\n<p>\u68c0\u67e5\u5939\u5177\u548c\u8f93\u9001\u88c5\u7f6e\u7684\u5b89\u88c5\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u521d\u59cb\u6d4b\u8bd5&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u8fdb\u884c\u89c6\u89c9\u4f20\u611f\u5668\u548c\u529b\u4f20\u611f\u5668\u7684\u521d\u6b65\u6d4b\u8bd5&#xff0c;\u786e\u4fdd\u5176\u6b63\u5e38\u5de5\u4f5c\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u6d4b\u8bd5\u89c6\u89c9\u4f20\u611f\u5668<\/span><\/p>\n<p>test_image <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>capture_image<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>test_gear_position <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>detect_gear<span class=\"token punctuation\">(<\/span>test_image<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Test gear position:&#034;<\/span><span class=\"token punctuation\">,<\/span> test_gear_position<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u6d4b\u8bd5\u529b\u4f20\u611f\u5668<\/span><\/p>\n<p>test_force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Test force:&#034;<\/span><span class=\"token punctuation\">,<\/span> test_force<span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u8def\u5f84\u6267\u884c&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u673a\u5668\u4eba\u6839\u636e\u4f18\u5316\u540e\u7684\u8def\u5f84\u8fdb\u884c\u88c5\u914d\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u6267\u884c\u4f18\u5316\u540e\u7684\u8def\u5f84<\/span><\/p>\n<p><span class=\"token keyword\">for<\/span> position <span class=\"token keyword\">in<\/span> optimized_path<span class=\"token punctuation\">:<\/span><\/p>\n<p>    robot<span class=\"token punctuation\">.<\/span>move_to<span class=\"token punctuation\">(<\/span>position<span class=\"token punctuation\">)<\/span><\/p>\n<p>    force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> force <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">10.0<\/span><span class=\"token punctuation\">:<\/span>  <span class=\"token comment\"># \u8d85\u8fc7\u9608\u503c\u5219\u505c\u6b62<\/span><\/p>\n<p>        <span class=\"token keyword\">break<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u6700\u7ec8\u68c0\u67e5&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u68c0\u67e5\u88c5\u914d\u7684\u9f7f\u8f6e\u662f\u5426\u7b26\u5408\u8981\u6c42\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u68c0\u67e5\u88c5\u914d\u7ed3\u679c<\/span><\/p>\n<p>final_gear_position <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>detect_gear<span class=\"token punctuation\">(<\/span>image<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">if<\/span> final_gear_position <span class=\"token operator\">&#061;&#061;<\/span> target_position<span class=\"token punctuation\">:<\/span><\/p>\n<p>    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Gear assembly completed successfully.&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">else<\/span><span class=\"token punctuation\">:<\/span><\/p>\n<p>    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Gear assembly failed.&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<h4>\u6848\u4f8b2&#xff1a;\u590d\u6742\u7ebf\u675f\u88c5\u914d<\/h4>\n<h5>\u4efb\u52a1\u63cf\u8ff0<\/h5>\n<p>\u6c7d\u8f66\u7ebf\u675f\u662f\u8fde\u63a5\u5404\u4e2a\u7535\u6c14\u7ec4\u4ef6\u7684\u91cd\u8981\u90e8\u5206&#xff0c;\u5176\u88c5\u914d\u8981\u6c42\u9ad8\u5ea6\u7cbe\u786e\u548c\u7075\u6d3b\u3002\u672c\u6848\u4f8b\u5c06\u5206\u6790\u5982\u4f55\u4f7f\u7528KUKA KR 3 AGILUS\u673a\u5668\u4eba\u5b8c\u6210\u590d\u6742\u7ebf\u675f\u7684\u88c5\u914d\u4efb\u52a1\u3002<\/p>\n<h5>\u4efb\u52a1\u89c4\u5212<\/h5>\n<li>\n<p>\u5de5\u4f5c\u73af\u5883\u8bbe\u7f6e&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u786e\u5b9a\u673a\u5668\u4eba\u5de5\u4f5c\u533a\u57df\u7684\u5927\u5c0f\u548c\u5e03\u5c40\u3002<\/p>\n<\/li>\n<li>\n<p>\u5b89\u88c5\u5fc5\u8981\u7684\u5939\u5177\u548c\u8f93\u9001\u88c5\u7f6e&#xff0c;\u786e\u4fdd\u7ebf\u675f\u7684\u51c6\u786e\u8f93\u9001\u548c\u5b9a\u4f4d\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u7ebf\u675f\u8bc6\u522b\u4e0e\u5b9a\u4f4d&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528\u89c6\u89c9\u4f20\u611f\u5668\u8bc6\u522b\u548c\u5b9a\u4f4d\u7ebf\u675f\u96f6\u4ef6\u3002<\/p>\n<\/li>\n<li>\n<p>\u901a\u8fc7\u529b\u4f20\u611f\u5668\u68c0\u6d4b\u7ebf\u675f\u7684\u63d2\u5165\u72b6\u6001&#xff0c;\u786e\u4fdd\u88c5\u914d\u8fc7\u7a0b\u4e2d\u65e0\u8bef\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u88c5\u914d\u8def\u5f84\u89c4\u5212&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u6839\u636e\u7ebf\u675f\u7684\u7ed3\u6784\u548c\u88c5\u914d\u8981\u6c42&#xff0c;\u89c4\u5212\u673a\u5668\u4eba\u7684\u88c5\u914d\u8def\u5f84\u3002<\/p>\n<\/li>\n<li>\n<p>\u4f18\u5316\u8def\u5f84\u4ee5\u51cf\u5c11\u88c5\u914d\u65f6\u95f4&#xff0c;\u63d0\u9ad8\u751f\u4ea7\u6548\u7387\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<h5>\u7f16\u7a0b\u7b56\u7565<\/h5>\n<li>\n<p>\u89c6\u89c9\u4f20\u611f\u5668\u96c6\u6210&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528KUKA VisionSensor\u6a21\u5757\u8fdb\u884c\u7ebf\u675f\u8bc6\u522b\u548c\u5b9a\u4f4d\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u5bfc\u5165KUKA VisionSensor\u6a21\u5757<\/span><\/p>\n<p><span class=\"token keyword\">from<\/span> kuka<span class=\"token punctuation\">.<\/span>vision <span class=\"token keyword\">import<\/span> VisionSensor<\/p>\n<p><span class=\"token comment\"># \u521d\u59cb\u5316\u89c6\u89c9\u4f20\u611f\u5668<\/span><\/p>\n<p>vision_sensor <span class=\"token operator\">&#061;<\/span> VisionSensor<span class=\"token punctuation\">(<\/span>camera_ip<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;192.168.1.102&#034;<\/span><span class=\"token punctuation\">,<\/span> camera_port<span class=\"token operator\">&#061;<\/span><span class=\"token number\">5002<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u6355\u6349\u56fe\u50cf\u5e76\u8fdb\u884c\u5904\u7406<\/span><\/p>\n<p>image <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>capture_image<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>harness_position <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>detect_harness<span class=\"token punctuation\">(<\/span>image<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u8f93\u51fa\u7ebf\u675f\u4f4d\u7f6e<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Detected harness position:&#034;<\/span><span class=\"token punctuation\">,<\/span> harness_position<span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u529b\u4f20\u611f\u5668\u96c6\u6210&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528KUKA ForceSensor\u6a21\u5757\u68c0\u6d4b\u7ebf\u675f\u63d2\u5165\u8fc7\u7a0b\u4e2d\u7684\u529b\u53cd\u9988\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u5bfc\u5165KUKA ForceSensor\u6a21\u5757<\/span><\/p>\n<p><span class=\"token keyword\">from<\/span> kuka<span class=\"token punctuation\">.<\/span>sensors <span class=\"token keyword\">import<\/span> ForceSensor<\/p>\n<p><span class=\"token comment\"># \u521d\u59cb\u5316\u529b\u4f20\u611f\u5668<\/span><\/p>\n<p>force_sensor <span class=\"token operator\">&#061;<\/span> ForceSensor<span class=\"token punctuation\">(<\/span>sensor_ip<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;192.168.1.103&#034;<\/span><span class=\"token punctuation\">,<\/span> sensor_port<span class=\"token operator\">&#061;<\/span><span class=\"token number\">5003<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u68c0\u6d4b\u7ebf\u675f\u63d2\u5165\u8fc7\u7a0b\u4e2d\u7684\u529b\u53cd\u9988<\/span><\/p>\n<p>force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">while<\/span> force <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">5.0<\/span><span class=\"token punctuation\">:<\/span>  <span class=\"token comment\"># \u5047\u8bbe5.0N\u662f\u63d2\u5165\u5b8c\u6210\u7684\u9608\u503c<\/span><\/p>\n<p>    force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># \u8c03\u6574\u63d2\u5165\u4f4d\u7f6e\u548c\u529b\u5ea6<\/span><\/p>\n<p>    robot<span class=\"token punctuation\">.<\/span>adjust_position_and_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u8def\u5f84\u89c4\u5212\u4e0e\u4f18\u5316&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528KUKA PathPlanner\u6a21\u5757\u8fdb\u884c\u8def\u5f84\u89c4\u5212\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u5bfc\u5165KUKA PathPlanner\u6a21\u5757<\/span><\/p>\n<p><span class=\"token keyword\">from<\/span> kuka<span class=\"token punctuation\">.<\/span>path_planner <span class=\"token keyword\">import<\/span> PathPlanner<\/p>\n<p><span class=\"token comment\"># \u521d\u59cb\u5316\u8def\u5f84\u89c4\u5212\u5668<\/span><\/p>\n<p>path_planner <span class=\"token operator\">&#061;<\/span> PathPlanner<span class=\"token punctuation\">(<\/span>robot_model<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;KR 3 AGILUS&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u5b9a\u4e49\u8d77\u59cb\u548c\u76ee\u6807\u4f4d\u7f6e<\/span><\/p>\n<p>start_position <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p>target_position <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">200<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">200<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">200<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p><span class=\"token comment\"># \u89c4\u5212\u8def\u5f84<\/span><\/p>\n<p>path <span class=\"token operator\">&#061;<\/span> path_planner<span class=\"token punctuation\">.<\/span>plan_path<span class=\"token punctuation\">(<\/span>start_position<span class=\"token punctuation\">,<\/span> target_position<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u4f18\u5316\u8def\u5f84<\/span><\/p>\n<p>optimized_path <span class=\"token operator\">&#061;<\/span> path_planner<span class=\"token punctuation\">.<\/span>optimize_path<span class=\"token punctuation\">(<\/span>path<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u8f93\u51fa\u4f18\u5316\u540e\u7684\u8def\u5f84<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Optimized path:&#034;<\/span><span class=\"token punctuation\">,<\/span> optimized_path<span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<h5>\u5b9e\u65bd\u6b65\u9aa4<\/h5>\n<li>\n<p>\u73af\u5883\u914d\u7f6e&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u786e\u4fdd\u673a\u5668\u4eba\u548c\u4f20\u611f\u5668\u7684\u4f4d\u7f6e\u6b63\u786e\u3002<\/p>\n<\/li>\n<li>\n<p>\u68c0\u67e5\u5939\u5177\u548c\u8f93\u9001\u88c5\u7f6e\u7684\u5b89\u88c5\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u521d\u59cb\u6d4b\u8bd5&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u8fdb\u884c\u89c6\u89c9\u4f20\u611f\u5668\u548c\u529b\u4f20\u611f\u5668\u7684\u521d\u6b65\u6d4b\u8bd5&#xff0c;\u786e\u4fdd\u5176\u6b63\u5e38\u5de5\u4f5c\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u6d4b\u8bd5\u89c6\u89c9\u4f20\u611f\u5668<\/span><\/p>\n<p>test_image <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>capture_image<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>test_harness_position <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>detect_harness<span class=\"token punctuation\">(<\/span>test_image<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Test harness position:&#034;<\/span><span class=\"token punctuation\">,<\/span> test_harness_position<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u6d4b\u8bd5\u529b\u4f20\u611f\u5668<\/span><\/p>\n<p>test_force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Test force:&#034;<\/span><span class=\"token punctuation\">,<\/span> test_force<span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u8def\u5f84\u6267\u884c&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u673a\u5668\u4eba\u6839\u636e\u4f18\u5316\u540e\u7684\u8def\u5f84\u8fdb\u884c\u88c5\u914d\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u6267\u884c\u4f18\u5316\u540e\u7684\u8def\u5f84<\/span><\/p>\n<p><span class=\"token keyword\">for<\/span> position <span class=\"token keyword\">in<\/span> optimized_path<span class=\"token punctuation\">:<\/span><\/p>\n<p>    robot<span class=\"token punctuation\">.<\/span>move_to<span class=\"token punctuation\">(<\/span>position<span class=\"token punctuation\">)<\/span><\/p>\n<p>    force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> force <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">5.0<\/span><span class=\"token punctuation\">:<\/span>  <span class=\"token comment\"># \u8d85\u8fc7\u9608\u503c\u5219\u505c\u6b62<\/span><\/p>\n<p>        <span class=\"token keyword\">break<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u6700\u7ec8\u68c0\u67e5&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u68c0\u67e5\u88c5\u914d\u7684\u7ebf\u675f\u662f\u5426\u7b26\u5408\u8981\u6c42\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u68c0\u67e5\u88c5\u914d\u7ed3\u679c<\/span><\/p>\n<p>final_harness_position <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>detect_harness<span class=\"token punctuation\">(<\/span>image<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">if<\/span> final_harness_position <span class=\"token operator\">&#061;&#061;<\/span> target_position<span class=\"token punctuation\">:<\/span><\/p>\n<p>    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Harness assembly completed successfully.&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">else<\/span><span class=\"token punctuation\">:<\/span><\/p>\n<p>    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Harness assembly failed.&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<h4>\u6848\u4f8b3&#xff1a;\u7cbe\u5bc6\u8f74\u9500\u88c5\u914d<\/h4>\n<h5>\u4efb\u52a1\u63cf\u8ff0<\/h5>\n<p>\u5728\u6c7d\u8f66\u5236\u9020\u4e2d&#xff0c;\u7cbe\u5bc6\u8f74\u9500\u7684\u88c5\u914d\u662f\u4e00\u9879\u5173\u952e\u4efb\u52a1\u3002\u8f74\u9500\u7684\u5c3a\u5bf8\u548c\u516c\u5dee\u8981\u6c42\u975e\u5e38\u9ad8&#xff0c;\u4efb\u4f55\u5fae\u5c0f\u7684\u8bef\u5dee\u90fd\u53ef\u80fd\u5bfc\u81f4\u6574\u4e2a\u7cfb\u7edf\u7684\u5931\u6548\u3002\u672c\u6848\u4f8b\u5c06\u5206\u6790\u5982\u4f55\u4f7f\u7528KUKA KR 3 AGILUS\u673a\u5668\u4eba\u5b8c\u6210\u7cbe\u5bc6\u8f74\u9500\u7684\u88c5\u914d\u4efb\u52a1\u3002<\/p>\n<h5>\u4efb\u52a1\u89c4\u5212<\/h5>\n<li>\n<p>\u5de5\u4f5c\u73af\u5883\u8bbe\u7f6e&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u786e\u5b9a\u673a\u5668\u4eba\u5de5\u4f5c\u533a\u57df\u7684\u5927\u5c0f\u548c\u5e03\u5c40\u3002<\/p>\n<\/li>\n<li>\n<p>\u5b89\u88c5\u5fc5\u8981\u7684\u5939\u5177\u548c\u8f93\u9001\u88c5\u7f6e&#xff0c;\u786e\u4fdd\u8f74\u9500\u7684\u51c6\u786e\u8f93\u9001\u548c\u5b9a\u4f4d\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u8f74\u9500\u8bc6\u522b\u4e0e\u5b9a\u4f4d&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528\u89c6\u89c9\u4f20\u611f\u5668\u8bc6\u522b\u548c\u5b9a\u4f4d\u8f74\u9500\u96f6\u4ef6\u3002<\/p>\n<\/li>\n<li>\n<p>\u901a\u8fc7\u529b\u4f20\u611f\u5668\u68c0\u6d4b\u8f74\u9500\u7684\u88c5\u914d\u72b6\u6001&#xff0c;\u786e\u4fdd\u88c5\u914d\u8fc7\u7a0b\u4e2d\u65e0\u8bef\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u88c5\u914d\u8def\u5f84\u89c4\u5212&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u6839\u636e\u8f74\u9500\u7684\u7ed3\u6784\u548c\u88c5\u914d\u8981\u6c42&#xff0c;\u89c4\u5212\u673a\u5668\u4eba\u7684\u88c5\u914d\u8def\u5f84\u3002<\/p>\n<\/li>\n<li>\n<p>\u4f18\u5316\u8def\u5f84\u4ee5\u51cf\u5c11\u88c5\u914d\u65f6\u95f4&#xff0c;\u63d0\u9ad8\u751f\u4ea7\u6548\u7387\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<h5>\u7f16\u7a0b\u7b56\u7565<\/h5>\n<li>\n<p>\u89c6\u89c9\u4f20\u611f\u5668\u96c6\u6210&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528KUKA VisionSensor\u6a21\u5757\u8fdb\u884c\u8f74\u9500\u8bc6\u522b\u548c\u5b9a\u4f4d\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u5bfc\u5165KUKA VisionSensor\u6a21\u5757<\/span><\/p>\n<p><span class=\"token keyword\">from<\/span> kuka<span class=\"token punctuation\">.<\/span>vision <span class=\"token keyword\">import<\/span> VisionSensor<\/p>\n<p><span class=\"token comment\"># \u521d\u59cb\u5316\u89c6\u89c9\u4f20\u611f\u5668<\/span><\/p>\n<p>vision_sensor <span class=\"token operator\">&#061;<\/span> VisionSensor<span class=\"token punctuation\">(<\/span>camera_ip<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;192.168.1.104&#034;<\/span><span class=\"token punctuation\">,<\/span> camera_port<span class=\"token operator\">&#061;<\/span><span class=\"token number\">5004<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u6355\u6349\u56fe\u50cf\u5e76\u8fdb\u884c\u5904\u7406<\/span><\/p>\n<p>image <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>capture_image<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>pin_position <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>detect_pin<span class=\"token punctuation\">(<\/span>image<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u8f93\u51fa\u8f74\u9500\u4f4d\u7f6e<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Detected pin position:&#034;<\/span><span class=\"token punctuation\">,<\/span> pin_position<span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u529b\u4f20\u611f\u5668\u96c6\u6210&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528KUKA ForceSensor\u6a21\u5757\u68c0\u6d4b\u8f74\u9500\u88c5\u914d\u8fc7\u7a0b\u4e2d\u7684\u529b\u53cd\u9988\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u5bfc\u5165KUKA ForceSensor\u6a21\u5757<\/span><\/p>\n<p><span class=\"token keyword\">from<\/span> kuka<span class=\"token punctuation\">.<\/span>sensors <span class=\"token keyword\">import<\/span> ForceSensor<\/p>\n<p><span class=\"token comment\"># \u521d\u59cb\u5316\u529b\u4f20\u611f\u5668<\/span><\/p>\n<p>force_sensor <span class=\"token operator\">&#061;<\/span> ForceSensor<span class=\"token punctuation\">(<\/span>sensor_ip<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;192.168.1.105&#034;<\/span><span class=\"token punctuation\">,<\/span> sensor_port<span class=\"token operator\">&#061;<\/span><span class=\"token number\">5005<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u68c0\u6d4b\u8f74\u9500\u88c5\u914d\u8fc7\u7a0b\u4e2d\u7684\u529b\u53cd\u9988<\/span><\/p>\n<p>force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">while<\/span> force <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">8.0<\/span><span class=\"token punctuation\">:<\/span>  <span class=\"token comment\"># \u5047\u8bbe8.0N\u662f\u88c5\u914d\u5b8c\u6210\u7684\u9608\u503c<\/span><\/p>\n<p>    force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># \u8c03\u6574\u88c5\u914d\u4f4d\u7f6e\u548c\u529b\u5ea6<\/span><\/p>\n<p>    robot<span class=\"token punctuation\">.<\/span>adjust_position_and_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u8def\u5f84\u89c4\u5212\u4e0e\u4f18\u5316&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528KUKA PathPlanner\u6a21\u5757\u8fdb\u884c\u8def\u5f84\u89c4\u5212\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u5bfc\u5165KUKA PathPlanner\u6a21\u5757<\/span><\/p>\n<p><span class=\"token keyword\">from<\/span> kuka<span class=\"token punctuation\">.<\/span>path_planner <span class=\"token keyword\">import<\/span> PathPlanner<\/p>\n<p><span class=\"token comment\"># \u521d\u59cb\u5316\u8def\u5f84\u89c4\u5212\u5668<\/span><\/p>\n<p>path_planner <span class=\"token operator\">&#061;<\/span> PathPlanner<span class=\"token punctuation\">(<\/span>robot_model<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;KR 3 AGILUS&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u5b9a\u4e49\u8d77\u59cb\u548c\u76ee\u6807\u4f4d\u7f6e<\/span><\/p>\n<p>start_position <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p>target_position <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">150<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">150<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">150<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p><span class=\"token comment\"># \u89c4\u5212\u8def\u5f84<\/span><\/p>\n<p>path <span class=\"token operator\">&#061;<\/span> path_planner<span class=\"token punctuation\">.<\/span>plan_path<span class=\"token punctuation\">(<\/span>start_position<span class=\"token punctuation\">,<\/span> target_position<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u4f18\u5316\u8def\u5f84<\/span><\/p>\n<p>optimized_path <span class=\"token operator\">&#061;<\/span> path_planner<span class=\"token punctuation\">.<\/span>optimize_path<span class=\"token punctuation\">(<\/span>path<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u8f93\u51fa\u4f18\u5316\u540e\u7684\u8def\u5f84<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Optimized path:&#034;<\/span><span class=\"token punctuation\">,<\/span> optimized_path<span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<h5>\u5b9e\u65bd\u6b65\u9aa4<\/h5>\n<li>\n<p>\u73af\u5883\u914d\u7f6e&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u786e\u4fdd\u673a\u5668\u4eba\u548c\u4f20\u611f\u5668\u7684\u4f4d\u7f6e\u6b63\u786e\u3002<\/p>\n<\/li>\n<li>\n<p>\u68c0\u67e5\u5939\u5177\u548c\u8f93\u9001\u88c5\u7f6e\u7684\u5b89\u88c5\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u521d\u59cb\u6d4b\u8bd5&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u8fdb\u884c\u89c6\u89c9\u4f20\u611f\u5668\u548c\u529b\u4f20\u611f\u5668\u7684\u521d\u6b65\u6d4b\u8bd5&#xff0c;\u786e\u4fdd\u5176\u6b63\u5e38\u5de5\u4f5c\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u6d4b\u8bd5\u89c6\u89c9\u4f20\u611f\u5668<\/span><\/p>\n<p>test_image <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>capture_image<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>test_pin_position <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>detect_pin<span class=\"token punctuation\">(<\/span>test_image<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Test pin position:&#034;<\/span><span class=\"token punctuation\">,<\/span> test_pin_position<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u6d4b\u8bd5\u529b\u4f20\u611f\u5668<\/span><\/p>\n<p>test_force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Test force:&#034;<\/span><span class=\"token punctuation\">,<\/span> test_force<span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u8def\u5f84\u6267\u884c&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u673a\u5668\u4eba\u6839\u636e\u4f18\u5316\u540e\u7684\u8def\u5f84\u8fdb\u884c\u88c5\u914d\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u6267\u884c\u4f18\u5316\u540e\u7684\u8def\u5f84<\/span><\/p>\n<p><span class=\"token keyword\">for<\/span> position <span class=\"token keyword\">in<\/span> optimized_path<span class=\"token punctuation\">:<\/span><\/p>\n<p>    robot<span class=\"token punctuation\">.<\/span>move_to<span class=\"token punctuation\">(<\/span>position<span class=\"token punctuation\">)<\/span><\/p>\n<p>    force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> force <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">8.0<\/span><span class=\"token punctuation\">:<\/span>  <span class=\"token comment\"># \u8d85\u8fc7\u9608\u503c\u5219\u505c\u6b62<\/span><\/p>\n<p>        <span class=\"token keyword\">break<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u6700\u7ec8\u68c0\u67e5&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u68c0\u67e5\u88c5\u914d\u7684\u8f74\u9500\u662f\u5426\u7b26\u5408\u8981\u6c42\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u68c0\u67e5\u88c5\u914d\u7ed3\u679c<\/span><\/p>\n<p>final_pin_position <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>detect_pin<span class=\"token punctuation\">(<\/span>image<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">if<\/span> final_pin_position <span class=\"token operator\">&#061;&#061;<\/span> target_position<span class=\"token punctuation\">:<\/span><\/p>\n<p>    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Pin assembly completed successfully.&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">else<\/span><span class=\"token punctuation\">:<\/span><\/p>\n<p>    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Pin assembly failed.&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<h4>\u6848\u4f8b4&#xff1a;\u7cbe\u5bc6\u8f74\u627f\u88c5\u914d<\/h4>\n<h5>\u4efb\u52a1\u63cf\u8ff0<\/h5>\n<p>\u5728\u6c7d\u8f66\u5236\u9020\u4e2d&#xff0c;\u7cbe\u5bc6\u8f74\u627f\u7684\u88c5\u914d\u662f\u4e00\u9879\u5173\u952e\u4efb\u52a1\u3002\u8f74\u627f\u7684\u5c3a\u5bf8\u548c\u516c\u5dee\u8981\u6c42\u975e\u5e38\u9ad8&#xff0c;\u4efb\u4f55\u5fae\u5c0f\u7684\u8bef\u5dee\u90fd\u53ef\u80fd\u5bfc\u81f4\u6574\u4e2a\u7cfb\u7edf\u7684\u5931\u6548\u3002\u672c\u6848\u4f8b\u5c06\u5206\u6790\u5982\u4f55\u4f7f\u7528KUKA KR 3 AGILUS\u673a\u5668\u4eba\u5b8c\u6210\u7cbe\u5bc6\u8f74\u627f\u7684\u88c5\u914d\u4efb\u52a1\u3002<\/p>\n<h5>\u4efb\u52a1\u89c4\u5212<\/h5>\n<li>\n<p>\u5de5\u4f5c\u73af\u5883\u8bbe\u7f6e&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u786e\u5b9a\u673a\u5668\u4eba\u5de5\u4f5c\u533a\u57df\u7684\u5927\u5c0f\u548c\u5e03\u5c40\u3002<\/p>\n<\/li>\n<li>\n<p>\u5b89\u88c5\u5fc5\u8981\u7684\u5939\u5177\u548c\u8f93\u9001\u88c5\u7f6e&#xff0c;\u786e\u4fdd\u8f74\u627f\u7684\u51c6\u786e\u8f93\u9001\u548c\u5b9a\u4f4d\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u8f74\u627f\u8bc6\u522b\u4e0e\u5b9a\u4f4d&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528\u89c6\u89c9\u4f20\u611f\u5668\u8bc6\u522b\u548c\u5b9a\u4f4d\u8f74\u627f\u96f6\u4ef6\u3002<\/p>\n<\/li>\n<li>\n<p>\u901a\u8fc7\u529b\u4f20\u611f\u5668\u68c0\u6d4b\u8f74\u627f\u7684\u88c5\u914d\u72b6\u6001&#xff0c;\u786e\u4fdd\u88c5\u914d\u8fc7\u7a0b\u4e2d\u65e0\u8bef\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u88c5\u914d\u8def\u5f84\u89c4\u5212&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u6839\u636e\u8f74\u627f\u7684\u7ed3\u6784\u548c\u88c5\u914d\u8981\u6c42&#xff0c;\u89c4\u5212\u673a\u5668\u4eba\u7684\u88c5\u914d\u8def\u5f84\u3002<\/p>\n<\/li>\n<li>\n<p>\u4f18\u5316\u8def\u5f84\u4ee5\u51cf\u5c11\u88c5\u914d\u65f6\u95f4&#xff0c;\u63d0\u9ad8\u751f\u4ea7\u6548\u7387\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<h5>\u7f16\u7a0b\u7b56\u7565<\/h5>\n<li>\n<p>\u89c6\u89c9\u4f20\u611f\u5668\u96c6\u6210&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528KUKA VisionSensor\u6a21\u5757\u8fdb\u884c\u8f74\u627f\u8bc6\u522b\u548c\u5b9a\u4f4d\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u5bfc\u5165KUKA VisionSensor\u6a21\u5757<\/span><\/p>\n<p><span class=\"token keyword\">from<\/span> kuka<span class=\"token punctuation\">.<\/span>vision <span class=\"token keyword\">import<\/span> VisionSensor<\/p>\n<p><span class=\"token comment\"># \u521d\u59cb\u5316\u89c6\u89c9\u4f20\u611f\u5668<\/span><\/p>\n<p>vision_sensor <span class=\"token operator\">&#061;<\/span> VisionSensor<span class=\"token punctuation\">(<\/span>camera_ip<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;192.168.1.106&#034;<\/span><span class=\"token punctuation\">,<\/span> camera_port<span class=\"token operator\">&#061;<\/span><span class=\"token number\">5006<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u6355\u6349\u56fe\u50cf\u5e76\u8fdb\u884c\u5904\u7406<\/span><\/p>\n<p>image <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>capture_image<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>bearing_position <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>detect_bearing<span class=\"token punctuation\">(<\/span>image<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u8f93\u51fa\u8f74\u627f\u4f4d\u7f6e<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Detected bearing position:&#034;<\/span><span class=\"token punctuation\">,<\/span> bearing_position<span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u529b\u4f20\u611f\u5668\u96c6\u6210&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528KUKA ForceSensor\u6a21\u5757\u68c0\u6d4b\u8f74\u627f\u88c5\u914d\u8fc7\u7a0b\u4e2d\u7684\u529b\u53cd\u9988\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u5bfc\u5165KUKA ForceSensor\u6a21\u5757<\/span><\/p>\n<p><span class=\"token keyword\">from<\/span> kuka<span class=\"token punctuation\">.<\/span>sensors <span class=\"token keyword\">import<\/span> ForceSensor<\/p>\n<p><span class=\"token comment\"># \u521d\u59cb\u5316\u529b\u4f20\u611f\u5668<\/span><\/p>\n<p>force_sensor <span class=\"token operator\">&#061;<\/span> ForceSensor<span class=\"token punctuation\">(<\/span>sensor_ip<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;192.168.1.107&#034;<\/span><span class=\"token punctuation\">,<\/span> sensor_port<span class=\"token operator\">&#061;<\/span><span class=\"token number\">5007<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u68c0\u6d4b\u8f74\u627f\u88c5\u914d\u8fc7\u7a0b\u4e2d\u7684\u529b\u53cd\u9988<\/span><\/p>\n<p>force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">while<\/span> force <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">12.0<\/span><span class=\"token punctuation\">:<\/span>  <span class=\"token comment\"># \u5047\u8bbe12.0N\u662f\u88c5\u914d\u5b8c\u6210\u7684\u9608\u503c<\/span><\/p>\n<p>    force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># \u8c03\u6574\u88c5\u914d\u4f4d\u7f6e\u548c\u529b\u5ea6<\/span><\/p>\n<p>    robot<span class=\"token punctuation\">.<\/span>adjust_position_and_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u8def\u5f84\u89c4\u5212\u4e0e\u4f18\u5316&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528KUKA PathPlanner\u6a21\u5757\u8fdb\u884c\u8def\u5f84\u89c4\u5212\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u5bfc\u5165KUKA PathPlanner\u6a21\u5757<\/span><\/p>\n<p><span class=\"token keyword\">from<\/span> kuka<span class=\"token punctuation\">.<\/span>path_planner <span class=\"token keyword\">import<\/span> PathPlanner<\/p>\n<p><span class=\"token comment\"># \u521d\u59cb\u5316\u8def\u5f84\u89c4\u5212\u5668<\/span><\/p>\n<p>path_planner <span class=\"token operator\">&#061;<\/span> PathPlanner<span class=\"token punctuation\">(<\/span>robot_model<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;KR 3 AGILUS&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u5b9a\u4e49\u8d77\u59cb\u548c\u76ee\u6807\u4f4d\u7f6e<\/span><\/p>\n<p>start_position <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p>target_position <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">250<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">250<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">250<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p><span class=\"token comment\"># \u89c4\u5212\u8def\u5f84<\/span><\/p>\n<p>path <span class=\"token operator\">&#061;<\/span> path_planner<span class=\"token punctuation\">.<\/span>plan_path<span class=\"token punctuation\">(<\/span>start_position<span class=\"token punctuation\">,<\/span> target_position<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u4f18\u5316\u8def\u5f84<\/span><\/p>\n<p>optimized_path <span class=\"token operator\">&#061;<\/span> path_planner<span class=\"token punctuation\">.<\/span>optimize_path<span class=\"token punctuation\">(<\/span>path<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u8f93\u51fa\u4f18\u5316\u540e\u7684\u8def\u5f84<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Optimized path:&#034;<\/span><span class=\"token punctuation\">,<\/span> optimized_path<span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<h5>\u5b9e\u65bd\u6b65\u9aa4<\/h5>\n<li>\n<p>\u73af\u5883\u914d\u7f6e&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u786e\u4fdd\u673a\u5668\u4eba\u548c\u4f20\u611f\u5668\u7684\u4f4d\u7f6e\u6b63\u786e\u3002<\/p>\n<\/li>\n<li>\n<p>\u68c0\u67e5\u5939\u5177\u548c\u8f93\u9001\u88c5\u7f6e\u7684\u5b89\u88c5\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u6d4b\u8bd5\u89c6\u89c9\u4f20\u611f\u5668<\/span><\/p>\n<p>test_image <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>capture_image<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>test_bearing_position <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>detect_bearing<span class=\"token punctuation\">(<\/span>test_image<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Test bearing position:&#034;<\/span><span class=\"token punctuation\">,<\/span> test_bearing_position<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u6d4b\u8bd5\u529b\u4f20\u611f\u5668<\/span><\/p>\n<p>test_force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Test force:&#034;<\/span><span class=\"token punctuation\">,<\/span> test_force<span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u521d\u59cb\u6d4b\u8bd5&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u8fdb\u884c\u89c6\u89c9\u4f20\u611f\u5668\u548c\u529b\u4f20\u611f\u5668\u7684\u521d\u6b65\u6d4b\u8bd5&#xff0c;\u786e\u4fdd\u5176\u6b63\u5e38\u5de5\u4f5c\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u6d4b\u8bd5\u89c6\u89c9\u4f20\u611f\u5668<\/span><\/p>\n<p>test_image <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>capture_image<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>test_bearing_position <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>detect_bearing<span class=\"token punctuation\">(<\/span>test_image<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Test bearing position:&#034;<\/span><span class=\"token punctuation\">,<\/span> test_bearing_position<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u6d4b\u8bd5\u529b\u4f20\u611f\u5668<\/span><\/p>\n<p>test_force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Test force:&#034;<\/span><span class=\"token punctuation\">,<\/span> test_force<span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u8def\u5f84\u6267\u884c&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u673a\u5668\u4eba\u6839\u636e\u4f18\u5316\u540e\u7684\u8def\u5f84\u8fdb\u884c\u88c5\u914d\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u6267\u884c\u4f18\u5316\u540e\u7684\u8def\u5f84<\/span><\/p>\n<p><span class=\"token keyword\">for<\/span> position <span class=\"token keyword\">in<\/span> optimized_path<span class=\"token punctuation\">:<\/span><\/p>\n<p>    robot<span class=\"token punctuation\">.<\/span>move_to<span class=\"token punctuation\">(<\/span>position<span class=\"token punctuation\">)<\/span><\/p>\n<p>    force <span class=\"token operator\">&#061;<\/span> force_sensor<span class=\"token punctuation\">.<\/span>read_force<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> force <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">12.0<\/span><span class=\"token punctuation\">:<\/span>  <span class=\"token comment\"># \u8d85\u8fc7\u9608\u503c\u5219\u505c\u6b62<\/span><\/p>\n<p>        <span class=\"token keyword\">break<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u6700\u7ec8\u68c0\u67e5&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u68c0\u67e5\u88c5\u914d\u7684\u8f74\u627f\u662f\u5426\u7b26\u5408\u8981\u6c42\u3002<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u68c0\u67e5\u88c5\u914d\u7ed3\u679c<\/span><\/p>\n<p>final_bearing_position <span class=\"token operator\">&#061;<\/span> vision_sensor<span class=\"token punctuation\">.<\/span>detect_bearing<span class=\"token punctuation\">(<\/span>image<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">if<\/span> final_bearing_position <span class=\"token operator\">&#061;&#061;<\/span> target_position<span class=\"token punctuation\">:<\/span><\/p>\n<p>    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Bearing assembly completed successfully.&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">else<\/span><span class=\"token punctuation\">:<\/span><\/p>\n<p>    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Bearing assembly failed.&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<h4>\u6848\u4f8b\u603b\u7ed3<\/h4>\n<p>\u901a\u8fc7\u4ee5\u4e0a\u56db\u4e2a\u6848\u4f8b\u7684\u5206\u6790&#xff0c;\u6211\u4eec\u53ef\u4ee5\u770b\u5230KUKA KR 3 AGILUS\u673a\u5668\u4eba\u5728\u6c7d\u8f66\u96f6\u90e8\u4ef6\u5236\u9020\u4e2d\u7684\u5e7f\u6cdb\u5e94\u7528\u3002\u65e0\u8bba\u662f\u9f7f\u8f6e\u3001\u7ebf\u675f\u3001\u8f74\u9500\u8fd8\u662f\u8f74\u627f\u7684\u88c5\u914d\u4efb\u52a1&#xff0c;KUKA KR 3 AGILUS\u673a\u5668\u4eba\u90fd\u80fd\u591f\u901a\u8fc7\u7cbe\u786e\u7684\u89c6\u89c9\u4f20\u611f\u5668\u8bc6\u522b\u3001\u529b\u4f20\u611f\u5668\u68c0\u6d4b\u548c\u4f18\u5316\u7684\u8def\u5f84\u89c4\u5212&#xff0c;\u786e\u4fdd\u88c5\u914d\u4efb\u52a1\u7684\u9ad8\u6548\u548c\u51c6\u786e\u5b8c\u6210\u3002<\/p>\n<h5>\u5173\u952e\u6280\u672f\u70b9\u603b\u7ed3<\/h5>\n<li>\n<p>\u89c6\u89c9\u4f20\u611f\u5668&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u7528\u4e8e\u96f6\u4ef6\u7684\u51c6\u786e\u8bc6\u522b\u548c\u5b9a\u4f4d&#xff0c;\u786e\u4fdd\u673a\u5668\u4eba\u80fd\u591f\u6b63\u786e\u5730\u6293\u53d6\u548c\u653e\u7f6e\u96f6\u4ef6\u3002<\/p>\n<\/li>\n<li>\n<p>\u96c6\u6210KUKA 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KR 3 AGILUS\u673a\u5668\u4eba\u80fd\u591f\u5728\u590d\u6742\u7684\u88c5\u914d\u4efb\u52a1\u4e2d\u53d1\u6325\u91cd\u8981\u4f5c\u7528&#xff0c;\u63d0\u9ad8\u751f\u4ea7\u6548\u7387\u548c\u4ea7\u54c1\u8d28\u91cf&#xff0c;\u4e3a\u6c7d\u8f66\u96f6\u90e8\u4ef6\u5236\u9020\u884c\u4e1a\u5e26\u6765\u663e\u8457\u7684\u6548\u76ca\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb584\u6b21\uff0c\u70b9\u8d5e19\u6b21\uff0c\u6536\u85cf3\u6b21\u3002\u901a\u8fc7\u4ee5\u4e0a\u56db\u4e2a\u6848\u4f8b\u7684\u5206\u6790\uff0c\u6211\u4eec\u53ef\u4ee5\u770b\u5230KUKA KR 3 AGILUS\u673a\u5668\u4eba\u5728\u6c7d\u8f66\u96f6\u90e8\u4ef6\u5236\u9020\u4e2d\u7684\u5e7f\u6cdb\u5e94\u7528\u3002\u65e0\u8bba\u662f\u9f7f\u8f6e\u3001\u7ebf\u675f\u3001\u8f74\u9500\u8fd8\u662f\u8f74\u627f\u7684\u88c5\u914d\u4efb\u52a1\uff0cKUKA KR 3 AGILUS\u673a\u5668\u4eba\u90fd\u80fd\u591f\u901a\u8fc7\u7cbe\u786e\u7684\u89c6\u89c9\u4f20\u611f\u5668\u8bc6\u522b\u3001\u529b\u4f20\u611f\u5668\u68c0\u6d4b\u548c\u4f18\u5316\u7684\u8def\u5f84\u89c4\u5212\uff0c\u786e\u4fdd\u88c5\u914d\u4efb\u52a1\u7684\u9ad8\u6548\u548c\u51c6\u786e\u5b8c\u6210\u3002\u89c6\u89c9\u4f20\u611f\u5668\u7528\u4e8e\u96f6\u4ef6\u7684\u51c6\u786e\u8bc6\u522b\u548c\u5b9a\u4f4d\uff0c\u786e\u4fdd\u673a\u5668\u4eba\u80fd\u591f\u6b63\u786e\u5730\u6293\u53d6\u548c\u653e\u7f6e\u96f6\u4ef6\u3002\u96c6\u6210KUKA VisionSensor\u6a21\u5757\uff0c\u901a\u8fc7\u56fe\u50cf\u5904\u7406\u6280\u672f\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u8bc6\u522b\u3002\u529b\u4f20\u611f\u5668\u7528\u4e8e\u68c0\u6d4b\u88c5\u914d\u8fc7\u7a0b\u4e2d\u7684\u529b\u53cd\u9988\uff0c\u786e\u4fdd\u88c5\u914d\u7684\u65e0\u8bef\u548c\u96f6\u4ef6\u7684\u5b8c\u597d\u3002<\/p>\n","protected":false},"author":2,"featured_media":54071,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[100,384,4881,78],"topic":[],"class_list":["post-54072","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-100","tag-384","tag-4881","tag-78"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u7cbe\u5bc6\u88c5\u914d\u673a\u5668\u4eba\u7cfb\u5217\u7f16\u7a0b\uff1aKUKA KR 3 AGILUS_\uff0813\uff09.\u590d\u6742\u88c5\u914d\u4efb\u52a1\u7684\u6848\u4f8b\u5206\u6790 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/54072.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u7cbe\u5bc6\u88c5\u914d\u673a\u5668\u4eba\u7cfb\u5217\u7f16\u7a0b\uff1aKUKA KR 3 AGILUS_\uff0813\uff09.\u590d\u6742\u88c5\u914d\u4efb\u52a1\u7684\u6848\u4f8b\u5206\u6790 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb584\u6b21\uff0c\u70b9\u8d5e19\u6b21\uff0c\u6536\u85cf3\u6b21\u3002\u901a\u8fc7\u4ee5\u4e0a\u56db\u4e2a\u6848\u4f8b\u7684\u5206\u6790\uff0c\u6211\u4eec\u53ef\u4ee5\u770b\u5230KUKA KR 3 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