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ABB机器人-机器人和佛教数字化的联系--抄写经书
发布时间：2021-06-05        浏览次数：169        返回列表
 只需要打字输入内容，自动转化为各种好看的手写体，机器人就会替你写~~

important; word-wrap: break-word !important; overflow-wrap: break-word !important;">机器人如何在佛教领域发挥作用？

important; word-wrap: break-word !important; overflow-wrap: break-word !important;">好像抄写经书是个不错的工作安排~~

important; word-wrap: break-word !important;"> 

important; word-wrap: break-word !important;">可以通过很多现成软件，将文字转化为G代码（很多软件也可以模仿你的手写体），机器人读取G代码，抄写经书，修身养性。

important; word-wrap: break-word !important;">以下为一段G代码举例

important; word-wrap: break-word !important;">
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important; word-wrap: break-word !important;">G21important; word-wrap: break-word !important;">G90important; word-wrap: break-word !important;">S1000important; word-wrap: break-word !important;">F3000important; word-wrap: break-word !important;">G0Z0important; word-wrap: break-word !important;">M5important; word-wrap: break-word !important;">G4 P0.2important; word-wrap: break-word !important;">G0 X33.229999542Y-30.100006104//快速移动到起点important; word-wrap: break-word !important;">M3S1000 //主轴转动，对应写字机器人的下压important; word-wrap: break-word !important;">G4 P0.2//等待0.2simportant; word-wrap: break-word !important;">G1 X33.867343903Y-29.832427979 //直线移动到该点important; word-wrap: break-word !important;">G1 X34.590003967Y-29.309997559 //直线移动到该点important; word-wrap: break-word !important;">M5 //主轴停止，写字机器人抬笔important; word-wrap: break-word !important;">G4 P0.2important; word-wrap: break-word !important;">G0 X34.290000916Y-28.149993896important; word-wrap: break-word !important;">M3S1000important; word-wrap: break-word !important;">G4 P0.2important; word-wrap: break-word !important;">G1 X34.320003510Y-28.661743164important; word-wrap: break-word !important;">G1 X34.265762329Y-29.248168945important; word-wrap: break-word !important;">G1 X33.940002441Y-30.809997559important; word-wrap: break-word !important;">M5important; word-wrap: break-word !important;">G4 P0.2important; word-wrap: break-word !important;">G0 X31.800001144Y-31.890014648important; word-wrap: break-word !important;">M3S1000important; word-wrap: break-word !important;">G4 P0.2important; word-wrap: break-word !important;">

important; word-wrap: break-word !important;">对应上述G代码，可以编写如下机器人读取代码进行转化，将xy位置记录入数组。

important; word-wrap: break-word !important;">
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important; word-wrap: break-word !important;"> FOR i FROM 1 TO 7 DOimportant; word-wrap: break-word !important;">            stmp:=ReadStr(iodev1);important; word-wrap: break-word !important;">        ENDFORimportant; word-wrap: break-word !important;">        !linenum : total line numbersimportant; word-wrap: break-word !important;">        !ppline{}: point numbers in each lineimportant; word-wrap: break-word !important;">        !important; word-wrap: break-word !important;">        count:=1;important; word-wrap: break-word !important;">        linenum:=0;important; word-wrap: break-word !important;">        WHILE stmp<>EOF DOimportant; word-wrap: break-word !important;">            stmp:=ReadStr(iodev1);important; word-wrap: break-word !important;">            s_gode:=StrPart(stmp,1,2);important; word-wrap: break-word !important;">            TEST s_godeimportant; word-wrap: break-word !important;">            CASE "G0":important; word-wrap: break-word !important;">                linenum:=linenum+1;important; word-wrap: break-word !important;">                IF StrPart(stmp,1,5)<>"G0 X0" thenimportant; word-wrap: break-word !important;">                 ppline{linenum}:=ppline{linenum}+1;important; word-wrap: break-word !important;">                s_x:=StrPart(stmp,5,5);important; word-wrap: break-word !important;">                s_y:=StrPart(stmp,StrFind(stmp,1,"Y")+1,5);important; word-wrap: break-word !important;">                flag1:=StrToVal(s_x,pointx{count});important; word-wrap: break-word !important;">                flag1:=StrToVal(s_y,pointy{count});important; word-wrap: break-word !important;">                count:=count+1;important; word-wrap: break-word !important;">                ENDIFimportant; word-wrap: break-word !important;">            CASE "G1":important; word-wrap: break-word !important;">                ppline{linenum}:=ppline{linenum}+1;important; word-wrap: break-word !important;">                s_x:=StrPart(stmp,5,5);important; word-wrap: break-word !important;">                s_y:=StrPart(stmp,StrFind(stmp,1,"Y")+1,5);important; word-wrap: break-word !important;">                flag1:=StrToVal(s_x,pointx{count});important; word-wrap: break-word !important;">                flag1:=StrToVal(s_y,pointy{count});important; word-wrap: break-word !important;">                count:=count+1;important; word-wrap: break-word !important;">            ENDTESTimportant; word-wrap: break-word !important;">        ENDWHILEimportant; word-wrap: break-word !important;">        linenum:=linenum-1;important; word-wrap: break-word !important;">       Close iodev1;

important; word-wrap: break-word !important;">机器人执行如下代码，进行写字

important; word-wrap: break-word !important;">
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important; word-wrap: break-word !important;">    SingArea\Wrist;important; word-wrap: break-word !important;">        ConfL\Off;important; word-wrap: break-word !important;">        FOR i FROM 1 TO linenum DOimportant; word-wrap: break-word !important;">        ! linenum为线条总数量important; word-wrap: break-word !important;">            p30.trans.x:=pointx{count}*ratio;important; word-wrap: break-word !important;">            p30.trans.y:=pointy{count}*ratio;important; word-wrap: break-word !important;">            p30.trans.z:=10;important; word-wrap: break-word !important;">            MoveL p30,v500,fine,tool20\WObj:=wobj20;important; word-wrap: break-word !important;">             p30.trans.z:=0;important; word-wrap: break-word !important;">            MoveL p30,v500,fine,tool20\WObj:=wobj20;important; word-wrap: break-word !important;">            set do0;important; word-wrap: break-word !important;">            FOR j FROM count TO ppline{i}+count-1 DOimportant; word-wrap: break-word !important;">            !每一条线内点的个数important; word-wrap: break-word !important;">                reg1:=j;important; word-wrap: break-word !important;">                p30.trans.x:=pointx{j}*ratio;important; word-wrap: break-word !important;">                p30.trans.y:=pointy{j}*ratio;important; word-wrap: break-word !important;">                p30.trans.z:=0;important; word-wrap: break-word !important;">                MoveL p30,v500,z10,tool20\WObj:=wobj20;important; word-wrap: break-word !important;">            ENDFORimportant; word-wrap: break-word !important;">            MoveL p30,v500,fine,tool20\WObj:=wobj20;important; word-wrap: break-word !important;">            reset do0;important; word-wrap: break-word !important;">            p30.trans.z:=10;important; word-wrap: break-word !important;">            MoveL p30,v500,z10,tool20\WObj:=wobj20;important; word-wrap: break-word !important;">            count:=count+ppline{i};important; word-wrap: break-word !important;">        ENDFORimportant; word-wrap: break-word !important;">        p30.trans.z:=50;important; word-wrap: break-word !important;">        MoveL p30,v500,fine,tool20\WObj:=wobj20; 
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                    本文摘自：ABB机器人实战技巧微信公众号    时间：2021-06-05



 

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