ABB机器人求两点间距离和几何体周长

ABB机器人求两点间距离和几何体周长

1）abb机器人提供求两点间距离函数distance

2）distance函数的输入为pos类型，即xyz。如果直接使用robtarget，可以使用p10.trans来提取pos

3）插入赋值语句，右边选择function，找到distance

点击更改类型，找到robtarget，选择p10

点击编辑，添加记录组件，插入.trans

4）计算后可以加入写屏，完整代码如下

MODULE Mr_Xin

CONST robtarget p10:=[[660.10,-200.00,984.86],[0.382683,2.39067E-07,0.92388,-3.48909E-08],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget p20:=[[1060.10,-200.00,984.86],[0.382683,1.81123E-07,0.92388,-2.78509E-08],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget p30:=[[1060.10,200.00,984.86],[0.382683,1.77075E-07,0.92388,-3.7991E-08],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget p40:=[[660.10,200.00,984.86],[0.382683,1.59855E-07,0.92388,-8.43782E-08],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

VAR pos pos10:=[0,0,0];

VAR pos pos20:=[0,0,0];

VAR num distanceA:=0;

VAR pos pos30:=[0,0,0];

VAR pos pos40:=[0,0,0];

VAR num distanceB:=0;

PROC distanceA_distanceB()

MoveL p10, v1000, fine, tool0;

pos10 := CPos();

WaitTime 0.2;

MoveL p20, v1000, fine, tool0;

pos20 := CPos();

WaitTime 0.2;

distanceA := Distance(pos10,pos20);

distanceB := Distance(p10.trans,p20.trans);

TPWrite 'distanceA_TO_distanceB';

!TPWrite ValToStr(distanceA);

TPWrite ValToStr(distanceB);

!MoveL p30, v1000, fine, tool0;

!pos30 := CPos();

!MoveL p40, v1000, fine, tool0;

!pos40 := CPos();

ENDPROC

ENDMODULE

两点间的距离可以计算出来了，那么求正方体和长文体的周长就很简单了，在这不在赘述、。