工業(yè)機(jī)器人操作與應(yīng)用一體化教程 任務(wù)鞏固答案

任務(wù)鞏固部分答案模塊一任務(wù)一一、填空題1.1954年，美國人提出了一個(gè)關(guān)于工業(yè)機(jī)器人的技術(shù)方案，設(shè)計(jì)并研制了世界上第一臺(tái)可編程的工業(yè)機(jī)器人樣機(jī)。2.按照日本工業(yè)機(jī)器人學(xué)會(huì)(JIRA)的標(biāo)準(zhǔn)，可將機(jī)器人分六類：第一類：人工操作機(jī)器人可變順序機(jī)器人(playback)機(jī)器人；第五類：數(shù)控機(jī)器人；第六類：智能機(jī)器人。3.按照機(jī)器人移動(dòng)性來分可分為半移動(dòng)式機(jī)器人和移動(dòng)器人。4.按照機(jī)器人的移動(dòng)方式來分可分為輪式移動(dòng)機(jī)器人、步行移動(dòng)器人、爬行機(jī)器人、蠕動(dòng)式機(jī)器人和游動(dòng)式機(jī)器人等類型。5.按照機(jī)器人的作業(yè)空間來分可分為陸地室內(nèi)移動(dòng)機(jī)器人、無人飛機(jī)空間機(jī)器人等。6.工業(yè)機(jī)器人通常由執(zhí)行機(jī)構(gòu)、驅(qū)動(dòng)系統(tǒng)、控制系統(tǒng)和傳感系統(tǒng)四部分組成7.工業(yè)機(jī)器人用的傳感器有內(nèi)部傳感器與外部傳感器兩種。三、應(yīng)用題1-底座2轉(zhuǎn)盤3-平衡配重連桿臂5-手臂手圖工業(yè)機(jī)器人本體模塊一任務(wù)三一、×××4.√模塊二任務(wù)一一、1.A2.B3.C4.C5.C模塊二任務(wù)二一、1.C2.B3.B4.C5.C6.B模塊二任務(wù)三一、1.C2.C模塊二任務(wù)四一、填空題1.通常機(jī)器人運(yùn)動(dòng)軸按其功能可劃分為機(jī)器人軸基座軸和工裝軸統(tǒng)稱外部軸。2.機(jī)器人的各種坐標(biāo)系都由正交的右手定則來決定。3.絕對(duì)坐標(biāo)系是與機(jī)器人的運(yùn)動(dòng)無關(guān)，以地球?yàn)閰⒄障档墓潭ㄗ鴺?biāo)系4.機(jī)座坐標(biāo)系是以機(jī)器人機(jī)座安裝平面為參照系的坐標(biāo)系5.工具坐標(biāo)系是以安裝在機(jī)械接口上的末端執(zhí)行器為參照系的坐標(biāo)系6.置換坐標(biāo)系是基于工件坐標(biāo)系定義的。7.腕坐標(biāo)系和工具坐標(biāo)系都是用來定義工具的方向的。8.關(guān)節(jié)坐標(biāo)系用來描述機(jī)器人每個(gè)獨(dú)立關(guān)節(jié)的運(yùn)動(dòng)。二、選擇題1.A2.B模塊三任務(wù)一一、填空題1.ABB的標(biāo)準(zhǔn)I/O板提供的常用信號(hào)處理有數(shù)字量組輸出，模擬量輸入，模擬量輸出。2.DSQC651板主要提供8個(gè)數(shù)字輸入信號(hào)、8個(gè)數(shù)字輸出信號(hào)和2個(gè)模擬輸出信號(hào)的處理。3.組輸入信號(hào)就是將幾個(gè)數(shù)字輸入信號(hào)組合起來使用，用于接受外圍設(shè)備輸入的BCD編碼的十進(jìn)制數(shù)。二、選擇題1.C2.B3.C4.A5.A6.B7.B8.B三、1.DSQC652板為例定義I/O總線。操作說明操作界面1.首先將示教器中系統(tǒng)模式設(shè)定2.首先3.進(jìn)入控制面板窗口。點(diǎn)擊“配4.單擊“DeviceNetDevice。5.單擊“添加”6.雙擊“Name”7.命名為“d6528.Address”10ProduceCode”26Device為“7。9.Connection,。10.將右圖中兩項(xiàng)數(shù)值分別設(shè)定為“211.總線連接完成。模塊三任務(wù)二步驟說明圖示單擊左上角主菜單按鈕。1選擇“控制面板”23選擇“配置”。雙擊“PROFINETInternalAnybusDevice”。4雙擊“PN_Internal_Anybus”。5.將“InputSize(bytes)”和“OutputSize(bytes)”設(shè)定為“4”。這樣，該P(yáng)rofibus個(gè)數(shù)字輸入信號(hào)和32個(gè)數(shù)字輸出信號(hào)。67單擊”確定”。8單擊”是”?；赑rofibus設(shè)定信號(hào)的方法和ABB標(biāo)準(zhǔn)I/O板上設(shè)定信號(hào)的方法基本一樣。要注意的區(qū)別就是在“Assignedto9Device”中選擇“PN_Internal_Anybus”。模塊四任務(wù)一下：！定義機(jī)器人工作原位pHomePROCmain()！主程序rIntiAll;！調(diào)用初始化程序，用于復(fù)位機(jī)器人位置、信號(hào)、數(shù)據(jù)等WHILETRUEDO！利用WHILETRUEDO死循環(huán)，目的是將初始化程序與機(jī)器人反復(fù)運(yùn)動(dòng)程序隔離Path_20;！走風(fēng)車形軌跡Path_30;！走橢圓形軌跡Path_40;！走平行四邊形槽軌跡Path_50;！走五角星形槽軌跡Path_60;！走凹字形槽軌跡Path_70;！走楓葉形槽軌跡WaitTime10;！等待10sENDWHILEENDPROCPROCrIntiAll()MoveAbsJPhome\NoEOffs,v50,fine,tool0;ENDPROCPROCPath_20()！風(fēng)車形軌跡程序MoveJoffs(p10,0,0,50),v400,fine,tWeldGun\WObj:=wobj0;！利用關(guān)節(jié)指令運(yùn)行至第個(gè)位置點(diǎn)正上方MoveLp10,v500,fine,tWeldGun\WObj:=wobj0;！機(jī)器人直線運(yùn)動(dòng)到第1個(gè)位置點(diǎn)MoveLp20,v500,fine,tWeldGun\WObj:=wobj0;！機(jī)器人直線運(yùn)動(dòng)到第2個(gè)位置點(diǎn)MoveCp30,p10,v500,fine,tWeldGun\WObj:=wobj0;！利用圓弧指令操作焊槍走U型槽的圓弧曲面MoveLp40,v500,fine,tWeldGun\WObj:=wobj0;！利用直線運(yùn)動(dòng)指令操作焊槍走型槽的底部直邊MoveCp50,p_10,v500,tWeldGun\WObj:=wobj0;！利用圓弧指令操作焊槍走U型槽的圓弧曲面，以下同上論述MoveLp60,v50,fine,tWeldGun\WObj:=wobj0;MoveCp70,p10,v50,tWeldGun\WObj:=wobj0;MoveLp80,v50,fine,tWeldGun\WObj:=wobj0;MoveCp90,p10,v50,fine,tWeldGun\WObj:=wobj0;MoveLoffs(p10,0,0,50),v50,fine,tWeldGun\WObj:=wobj0;ENDPROCPROCPath_30()！橢圓槽軌跡程序MoveJoffs(p100,0,0,50),v400,fine,tWeldGun\WObj:=wobj0;！利用關(guān)節(jié)移動(dòng)指令運(yùn)行至圓槽第1個(gè)位置點(diǎn)正上方MoveLp100,v500,fine,tWeldGun\WObj:=wobj0;！利用直線運(yùn)動(dòng)指令操作焊槍走半圓槽的頂部直邊MoveCp110,p120,v500,fine,tWeldGun\WObj:=wobj0;！利用圓弧指令操作焊槍走圓槽左部圓弧曲面。MoveCp130,p100,v500,fine,tWeldGun\WObj:=wobj0;！利用圓弧指令操作焊槍走圓槽右部圓弧曲面。MoveLoffs(p100,0,0,50),v500,fine,tWeldGun\WObj:=wobj0;ENDPROCPROCPath_40()！平行四邊形槽軌跡程序MoveLoffs(p140,0,0,50),v400,fine,tWeldGun\WObj:=wobj0;！利用直線運(yùn)行指令運(yùn)行至四邊形槽第1個(gè)位置點(diǎn)正上方MoveLp150,v500,fine,tWeldGun\WObj:=wobj0;！利用直線運(yùn)行指令運(yùn)行至四邊形槽第1個(gè)位置點(diǎn)，以下同上論述MoveLp160,v500,fine,tWeldGun\WObj:=wobj0;MoveLp170,v500,fine,tWeldGun\WObj:=wobj0;MoveLp140,v50,fine,tWeldGun\WObj:=wobj0;MoveLoffs(p140,0,0,50),v50,fine,tWeldGun\WObj:=wobj0;ENDPROCPROCPath_50()！走五角星形槽軌跡MoveLoffs(p180,0,0,50),v400,fine,tWeldGun\WObj:=wobj0;！利用直線運(yùn)行指令運(yùn)行至五角形槽第1個(gè)位置點(diǎn)正上方MoveLp180,v500,fine,tWeldGun\WObj:=wobj0;！利用直線運(yùn)行指令運(yùn)行至五角形槽第1個(gè)位置點(diǎn)，以下同上論述MoveLp190,v500,fine,tWeldGun\WObj:=wobj0;MoveLp200,v500,fine,tWeldGun\WObj:=wobj0;MoveLp210,v500,fine,tWeldGun\WObj:=wobj0;MoveLp220,v500,fine,tWeldGun\WObj:=wobj0;MoveLp230,v500,fine,tWeldGun\WObj:=wobj0;MoveLp240,v500,fine,tWeldGun\WObj:=wobj0;MoveLp250,v500,fine,tWeldGun\WObj:=wobj0;MoveLp260,v500,fine,tWeldGun\WObj:=wobj0;MoveLp270,v500,fine,tWeldGun\WObj:=wobj0;MoveLp180,v500,fine,tWeldGun\WObj:=wobj0;MoveLoffs(p180,0,0,50),v500,fine,tWeldGun\WObj:=wobj0;ENDPROCPROCPath_60()！走凹字形曲面軌跡MoveJoffs(P280,0,0,50),v400,fine,tWeldGun\WObj:=wobj0;！利用直線運(yùn)行指令運(yùn)行至凹字第1個(gè)位置點(diǎn)正上方MoveLoffs(P280,0,0,50),v400,fine,tWeldGun\WObj:=wobj0;！利用直線運(yùn)行指令運(yùn)行至凹字第1個(gè)位置點(diǎn)MoveCp290,p300,v500,fine,tWeldGun\WObj:=wobj0;！利用圓弧指令沿著至凹字形上部分（曲面）移動(dòng)MoveLp310,v500,fine,tWeldGun\WObj:=wobj0;！利用直線運(yùn)行指令運(yùn)行至P310點(diǎn)位置MoveCp320,p330,v500,fine,tWeldGun\WObj:=wobj0;！利用圓弧指令沿著至凹字形下部分（曲面）移動(dòng)MoveLP340,v500,fine,tWeldGun\WObj:=wobj0;MoveCP350,P360,v500,fine,tWeldGun\WObj:=wobj0;MoveLP370,v500,fine,tWeldGun\WObj:=wobj0;MoveCP380,P390,v500,fine,tWeldGun\WObj:=wobj0;MoveLP280,v500,fine,tWeldGun\WObj:=wobj0;MoveLoffs(P280,0,0,50),v50,fine,tWeldGun\WObj:=wobj0;ENDPROCPROCPath_70()！楓葉形曲面軌跡程序MoveJoffs(P400,0,0,50),v400,fine,tWeldGun\WObj:=wobj0;！利用關(guān)節(jié)移動(dòng)指令運(yùn)行至第1個(gè)位置點(diǎn)正上方MoveLP400,v500,fine,tWeldGun\WObj:=wobj0;！利用直線運(yùn)行指令運(yùn)行至圓形槽第個(gè)位置點(diǎn)MoveCP410,P420,v500,fine,tWeldGun\WObj:=wobj0;！利用圓弧運(yùn)行指令走部分圓弧軌跡，以下同上論述MoveCP430,P440,v500,fine,tWeldGun\WObj:=wobj0;MoveLP450,v500,fine,tWeldGun\WObj:=wobj0;MoveCP460,P470,v500,fine,tWeldGun\WObj:=wobj0;MoveCP480,P490,v500,fine,tWeldGun\WObj:=wobj0;MoveLP400,v500,fine,tWeldGun\WObj:=wobj0;MoveLoffs(P400,0,0,50),v500,fine,tWeldGun\WObj:=wobj0;MoveAbsJPhome\NoEOffs,v50,fine,tool0;ENDPROCENDMODULE模塊四任務(wù)二設(shè)計(jì)的機(jī)器人參考程序如下：MODULEModule1PERS！定義抓取位置pPick:=[[110,120,8.99964],[0.00133181,-0.707106,0.707105,0.0013337],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];PERSpPlace:=[[408.318,120.174,29.9959],[0.00135775,-0.707105,0.707106,0.00135736],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];pick10:=[[50.000008299,60.000278956,8.999641126],[0.001331814,-0.707106004,0.707105046,0.001333695],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];pick20:=[[170.000044143,60.000734923,9.000068323],[0.001357564,-0.70710516,0.707105795,0.001357593],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];place10:=[[348.318011656,60.173918809,29.995924403],[0.001357753,-0.707105332,0.707105624,0.001357359],[-1,-1,0,1],[9E9,9E9,9E9,9E9,9E9,9E9]];place20:=[[348.317974854,60.173932819,39.995779856],[0.001357641,-0.70710551,0.707105446,0.001357477],[-1,-1,0,1],[9E9,9E9,9E9,9E9,9E9,9E9]];pHome:=[[232.436865395,68.577571926,378.543737511],[0.00135751,-0.707105688,0.707105269,0.001357411],[-1,-1,0,1],[9E9,9E9,9E9,9E9,9E9,9E9]];PERSnumnCount:=0;tool1:=[TRUE,[[83,0,65],[1,0,0,0]],[1,[0,0,60],[1,0,0,0],0,0,0]];wobj1:=[TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];！主程序開始PROCMAIN()rIntiAll;！調(diào)用初始化子程序WHILETRUEDO！循環(huán)rPick;！搬運(yùn)子程序rPlace;！碼放子程序ENDWHILEENDPROC！初始化子程序rIntiAll()AccSet100,100;50,5000;！速度設(shè)置nCount:=1;reg1:=30;！正方形物料的長寬均為30，長方形的寬也為30reg2:=60;！長方形物料Y方向上的偏移量reg3:=0;d0_16;pHome,v1000,z10,Gripper_1\WObj:=Workobject_1;0.1;ENDPROC！搬運(yùn)子程序rPick()CallPos;POS子程序?qū)Ξ?dāng)前的搬運(yùn)位置進(jìn)行計(jì)算offs(pPick,0,0,50),v1000,z50,pPick,v50,fine,Gripper_1\WObj:=Workobject_1;do_16;0.8;offs(pPick,0,0,50),v800,fine,Gripper_1\WObj:=Workobject_1;ENDPROCrPlace()offs(pPlace,0,0,50),v1000,z50,Gripper_1\WObj:=Workobject_1;pPlace,v50,fine,Gripper_1\WObj:=Workobject_1;do_16;0.8;offs(pPlace,0,0,50),v800,fine,Gripper_1\WObj:=Workobject_1;rPlaceRD;ENDPROC!POS子程序用于計(jì)算當(dāng)前吸盤的拾取點(diǎn)位置和碼放位置！判斷計(jì)數(shù)的值CASE1:！nCount1時(shí)直接對(duì)pPick點(diǎn)點(diǎn)進(jìn)行賦值，不偏移pPick:=Offs(pick10,0,0,0);pPlace:=Offs(place10,0,0,0);CASE2:！nCount2時(shí)直接對(duì)點(diǎn)和pPlace點(diǎn)進(jìn)行賦值X方向偏移距離pPick:=Offs(pick10,reg1,0,0);pPlace:=Offs(place10,reg1,0,0);CASE3:！以下同上，不在詳述pPick:=Offs(pick10,reg1*2,0,0);pPlace:=Offs(place10,reg1*2,0,0);CASE4:pPick:=Offs(pick10,reg1*3,0,0);pPlace:=Offs(place10,reg1*3,0,0);CASE5:pPick:=Offs(pick10,0,reg2,0);pPlace:=Offs(place10,0,reg2,0);CASE6:pPick:=Offs(pick10,reg1,reg2,0);pPlace:=Offs(place10,reg1,reg2,0);CASE7:pPick:=Offs(pick10,reg1*2,reg2,0);pPlace:=Offs(place10,reg1*2,reg2,0);CASE8:pPick:=Offs(pick10,reg1*3,reg2,0);pPlace:=Offs(place10,reg1*3,reg2,0);:IFandnCount<13THEN1011時(shí)開始搬運(yùn)正方形物料pPick:=Offs(pick20,reg1*reg3,0,0);pPlace:=Offs(place20,reg1*reg3,0,0);ELSEIFnCount>12andnCount<17THENpPick:=Offs(pick20,reg1*reg3,reg1,0);pPlace:=Offs(place20,reg1*reg3,reg1,0);ELSEIFandnCount<21THENpPick:=Offs(pick20,reg1*reg3,reg1*2,0);pPlace:=Offs(place20,reg1*reg3,reg1*2,0);ELSEIFnCount>20andnCount<25THENpPick:=Offs(pick20,reg1*reg3,reg1*3,0);pPlace:=Offs(place20,reg1*reg3,reg1*3,0);ENDIFENDPROCrPlaceRD()nCount:=nCount+1;reg3;IFTHENreg3:=0;ENDIFIFTHEN"Pick&Placedone,therobotwill;nCount:=1;do_Grip;pHome,v1000,z10,Gripper_1\WObj:=Workobject_1;ENDIFENDPROCENDMODULE模塊四任務(wù)三機(jī)器人參考程序MODULEMainModulenumr1:=0;jpos10:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p0:=[[430.03,149.61,218.44],[0.70715,-0.000218716,0.707064,0.00021446],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p10:=[[430.03,207.01,44.58],[0.70715,-0.000219468,0.707064,0.000214336],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p20:=[[440.50,204.63,11.77],[0.70715,-0.000219263,0.707063,0.000215396],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p30:=[[440.50,204.63,89.44],[0.707151,-0.000219375,0.707063,0.000215346],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p40:=[[443.37,149.46,233.04],[0.70715,-0.000218913,0.707064,0.0002143],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p50:=[[443.37,154.09,89.56],[0.70715,-0.000219261,0.707064,0.00021407],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p60:=[[443.37,152.87,12.62],[0.70715,-0.000219464,0.707063,0.00021432],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p70:=[[443.37,152.87,116.00],[0.70715,-0.000219495,0.707063,0.000213948],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p80:=[[414.41,109.14,221.70],[0.707151,-0.000219949,0.707063,0.000213993],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p90:=[[443.46,100.09,46.63],[0.707151,-0.000219988,0.707063,0.000214528],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p100:=[[443.46,100.09,12.28],[0.707151,-0.000219967,0.707062,0.000214484],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p110:=[[443.46,100.09,93.53],[0.707151,-0.00022034,0.707062,0.000214589],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p120:=[[443.46,46.67,157.90],[0.707151,-0.000220272,0.707062,0.000214529],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p130:=[[438.19,46.67,37.63],[0.707152,-0.000220158,0.707062,0.000214636],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p140:=[[441.06,49.01,11.98],[0.707152,-0.00021998,0.707062,0.000214461],[0,0,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p150:=[[441.06,49.01,80.17],[0.707152,-0.000219934,0.707062,0.000214832],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p160:=[[374.00,-0.00,630.00],[0.707107,5.27994E-23,0.707107,-5.27994E-23],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p170:=[[374.00,-0.00,630.00],[0.707107,5.27994E-23,0.707107,-5.27994E-23],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p180:=[[374.00,-0.00,630.00],[0.707107,5.27994E-23,0.707107,-5.27994E-23],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p190:=[[374.00,-0.00,630.00],[0.707107,5.27994E-23,0.707107,-5.27994E-23],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p200:=[[442.61,-204.89,205.83],[0.703126,0.000452102,0.711055,0.00363827],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p210:=[[442.61,-204.89,42.95],[0.703127,0.000451876,0.711055,0.00363844],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p220:=[[442.61,-204.89,12.55],[0.703127,0.000452245,0.711055,0.00363828],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p230:=[[442.61,-204.89,67.96],[0.703127,0.0004523,0.711055,0.00363834],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p240:=[[442.61,-127.84,199.09],[0.703127,0.000451198,0.711055,0.00363819],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p250:=[[442.61,-153.13,51.94],[0.703127,0.000451212,0.711055,0.00363806],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p260:=[[442.61,-153.13,14.63],[0.703127,0.000451603,0.711055,0.00363834],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p270:=[[442.61,-153.13,111.27],[0.703127,0.000451838,0.711055,0.00363825],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p280:=[[442.61,-98.17,171.40],[0.703127,0.000451984,0.711055,0.0036378],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p290:=[[442.61,-98.17,70.17],[0.703127,0.000452069,0.711055,0.00363785],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p300:=[[441.72,-101.67,11.94],[0.703127,0.00045148,0.711055,0.0036385],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p310:=[[441.72,-101.67,64.03],[0.703127,0.000451686,0.711055,0.00363837],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p320:=[[441.72,-48.88,250.70],[0.703127,0.000451584,0.711055,0.00363826],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p330:=[[441.72,-48.88,31.50],[0.703127,0.000451644,0.711055,0.00363837],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p340:=[[441.72,-49.04,11.19],[0.703127,0.000452163,0.711055,0.00363796],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p350:=[[441.72,-49.04,78.20],[0.703127,0.000452346,0.711055,0.00363807],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];p360:=[[374.00,-0.00,630.00],[0.707107,5.27994E-23,0.707107,-5.27994E-23],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];numr2:=0;numr3:=0;numr4:=0;PROCmain()chushihua;!調(diào)用初始化子程序WHILEr1<！循環(huán)次zhuaqu;:=+ENDWHILEPulseDO\PLength:=1,DO10_3;！機(jī)器人工作完成信號(hào)反饋ENDPROCPROCchushihua()v1000,fine,DO10_1;DO10_2;DO10_3;:=:=:=:=ENDPROCPROCzhuaqu()IFr1<4THENp0,v1500,z10,Offs(p10,52*r1,0,0),v1500,z10,Offs(p20,52*r1,0,0),v1500,fine,tool1;SetDODO10_1,1;1;Offs(p30,52*r1,0,0),v1500,fine,tool1;DO10_1;ENDIFIFr1<8andr1>3THENp40,v1500,z10,tool1;Offs(p50,52*r2,0,0),v1500,z10,Offs(p60,52*r2,0,0),v1500,fine,tool1;SetDODO10_1,1;1;Offs(p70,52*r2,0,0),v1500,fine,tool1;DO1