双臂 · 状态、柔顺与示教 | 机器人技术学习笔记

按任务查阅末端位姿、关节状态、柔顺控制、负载辨识与拖动示教。

3.6.6 获取双臂末端位姿

3.6.6.1 请求：request_get_move_pose

通过此接口获取机器人双臂的末端位姿信息。

{
  "accid": "DACH_TRON2A_036", // 机器人序列号，注意修为您机器人的序列号；
  "title": "request_get_move_pose",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {}
}

3.6.6.2 响应：response_get_move_pose

接收到请求后，返回双臂当前位姿的相关信息。

{
  "accid": "WF_TRON2A_001", 
  "title": "response_get_move_pose",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
      "timestamp": 1672373633989, // 表示数据时戳，单位为毫秒
      "left_position": [0.0, 0.0, 0.0], // 表示左臂末端的位置，单位为米，顺序为 x, y, z
      "left_quat": [1.0， 0.0, 0.0, 0.0], // 表示左臂末端的姿态，以四元数表示，顺序为 w, x, y, z
      "right_position": [0.0, 0.0, 0.0], // 表示右臂末端的位置，单位为米，顺序为 x, y, z
      "right_quat": [1.0, 0.0, 0.0, 0.0], // 表示右臂末端的姿态，以四元数表示，顺序为 w, x, y, z
      "result": "success"  // fail_not_data
  }
}

3.6.7 获取机器人关节状态

3.6.7.1 请求：request_get_joint_state

此请求用于获取机器人的各个关节状态。

{
  "accid": "DACH_TRON2A_001", // 机器人序列号，注意修为您机器人的序列号；
  "title": "request_get_joint_state",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {}
}

3.6.7.2 响应：response_get_joint_state

接收到请求后，返回机器人各个关节当前状态。

{
  "accid": "DACH_TRON2A_001", 
  "title": "response_get_joint_state",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
      "names": [], // 各个关节的名称
      "q": [],     // 各个关节的位置
      "dq": [],    // 各个关节的速度
      "tau": [],   // 各个关节的扭矩
      "result": "success"  // fail_not_data
  }
}

3.6.7.3 消息推送：无

3.6.8 柔顺控制

3.6.8.1 开启/关闭柔顺控制

请求：request_set_compliant_enable

{
  "accid": "DACH_TRON2A_001",
  "title": "request_set_compliant_enable",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "enable": true
  }
}

响应：response_set_compliant_enable

{
  "accid": "DACH_TRON2A_001",
  "title": "response_set_compliant_enable",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success",
    "enable": true
  }
}

3.6.8.2 查询柔顺控制开关

请求：request_get_compliant_enable

{
  "accid": "DACH_TRON2A_001",
  "title": "request_get_compliant_enable",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {}
}

响应：response_get_compliant_enable

{
  "accid": "DACH_TRON2A_001",
  "title": "response_get_compliant_enable",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success",
    "enable": false
  }
}

3.6.8.3 设置柔顺控制参数

请求：request_set_compliant_param

{
  "accid": "DACH_TRON2A_001",
  "title": "request_set_compliant_param",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "title": "joint_impedance_kp",            //joint_impedance_kp/cart_impedance_kp
    "data": [ /* joint 14 项 / cart 12 项 */ ]
  }
}

响应：response_set_compliant_param

{
  "accid": "DACH_TRON2A_001",
  "title": "response_set_compliant_param",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success",
    "title": "joint_impedance_kp"
  }
}

3.6.8.4 查询柔顺控制参数

请求：request_get_compliant_param

{
  "accid": "DACH_TRON2A_001",
  "title": "request_get_compliant_param",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "title": "joint_toque"    // 可选；缺省时同时返回 joint_toque(14) 与 cart_force(12)。
  }
}

响应：response_get_compliant_param

{
  "accid": "DACH_TRON2A_001",
  "title": "response_get_compliant_param",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success",
    "title": "joint_toque",
    "data": [ /* ... */ ]
  }
}

缺省 title 时响应：

{
  "data": {
    "result": "success",
    "joint_toque": [ /* 14 */ ],
    "cart_force": [ /* 12 */ ]
  }
}

3.6.9 负载辨识

3.6.9.1 设置机械臂负载参数

请求：request_set_payload_param


{
  "accid": "DACH_TRON2A_001",
  "title": "request_set_payload_param",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "arm": 0,     //0=左臂，1=右臂；data：真实物理量 [m(kg), mcx, mcy, mcz(kg·m)]。
    "data": [0.5, 0.0, 0.0, 0.01]
  }
}

响应：response_set_payload_param

{
  "accid": "DACH_TRON2A_001",
  "title": "response_set_payload_param",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success",
    "arm": 0
  }
}

3.6.9.2 查询双臂负载参数

请求：request_get_payload_param


{
  "accid": "DACH_TRON2A_001",
  "title": "request_get_payload_param",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {}
}

响应：response_get_payload_param

{
  "accid": "DACH_TRON2A_001",
  "title": "response_get_payload_param",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success",
    "data": [ /* m_L,mcx_L,mcy_L,mcz_L, m_R,mcx_R,mcy_R,mcz_R */ ]
  }
}

3.6.10 拖动示教

3.6.10.1 进入拖动示教

请求：request_enter_drag_teach

{
  "accid": "DACH_TRON2A_001",
  "title": "request_enter_drag_teach",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {}
}

响应：response_enter_drag_teach

{
  "accid": "DACH_TRON2A_001",
  "title": "response_enter_drag_teach",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success",
    "success": true,
    "message": ""
  }
}

3.6.10.1 拖动示教轨迹管理

请求：request_drag_teach_manage

{
  "accid": "DACH_TRON2A_001",
  "title": "request_drag_teach_manage",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "cmd": "start_record",   //status/list/start_record/stop_record/play/delete/rename/gripper/exit
    "arg": ""                 //play/delete=文件名；rename="old|newlabel"；gripper=open/close/toggle
  }
}

响应：response_drag_teach_manage


{
  "accid": "DACH_TRON2A_001",
  "title": "response_drag_teach_manage",
  "timestamp": 1762771300000,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success",
    "success": true,
    "message": "",
    "cmd": "start_record"
  }
}

仅当cmd == "list" 时，额外返回 files 数组：

{
  "data": {
    "result": "success",
    "success": true,
    "cmd": "list",
    "files": ["traj_1", "traj_2"]
  }
}

双臂 · 状态、柔顺与示教