{"id":1170349,"date":"2025-01-15T16:21:32","date_gmt":"2025-01-15T08:21:32","guid":{"rendered":"https:\/\/docs.pingcode.com\/ask\/ask-ask\/1170349.html"},"modified":"2025-01-15T16:21:35","modified_gmt":"2025-01-15T08:21:35","slug":"%e5%a6%82%e4%bd%95%e7%94%a8python%e6%8e%a7%e5%88%b6%e6%9c%ba%e6%a2%b0%e8%87%82","status":"publish","type":"post","link":"https:\/\/docs.pingcode.com\/ask\/ask-ask\/1170349.html","title":{"rendered":"\u5982\u4f55\u7528python\u63a7\u5236\u673a\u68b0\u81c2"},"content":{"rendered":"

\"\u5982\u4f55\u7528python\u63a7\u5236\u673a\u68b0\u81c2\"<\/p>\n

\u8981\u7528Python\u63a7\u5236\u673a\u68b0\u81c2\uff0c\u9996\u5148\u9700\u8981\u4e86\u89e3\u4ee5\u4e0b\u51e0\u4e2a\u6838\u5fc3\u6b65\u9aa4\uff1a\u9009\u62e9\u5408\u9002\u7684\u673a\u68b0\u81c2\u3001\u5b89\u88c5\u76f8\u5173\u7684\u8f6f\u4ef6\u5305\u3001\u8fde\u63a5\u673a\u68b0\u81c2\u3001\u7f16\u5199\u63a7\u5236\u4ee3\u7801<\/strong>\u3002\u5176\u4e2d\uff0c\u9009\u62e9\u5408\u9002\u7684\u673a\u68b0\u81c2\u975e\u5e38\u91cd\u8981\uff0c\u56e0\u4e3a\u4e0d\u540c\u7684\u673a\u68b0\u81c2\u53ef\u80fd\u9700\u8981\u4e0d\u540c\u7684\u63a7\u5236\u65b9\u6cd5\u548c\u8f6f\u4ef6\u5305\u3002\u63a5\u4e0b\u6765\uff0c\u6211\u5c06\u8be6\u7ec6\u63cf\u8ff0\u5982\u4f55\u9009\u62e9\u5408\u9002\u7684\u673a\u68b0\u81c2\u3002<\/p>\n<\/p>\n

\u9009\u62e9\u5408\u9002\u7684\u673a\u68b0\u81c2\u662f\u63a7\u5236\u673a\u68b0\u81c2\u7684\u7b2c\u4e00\u6b65\u3002\u5728\u9009\u62e9\u673a\u68b0\u81c2\u65f6\uff0c\u9700\u8981\u8003\u8651\u673a\u68b0\u81c2\u7684\u7528\u9014\u3001\u8d1f\u8f7d\u80fd\u529b\u3001\u8fd0\u52a8\u8303\u56f4\u3001\u7cbe\u5ea6\u548c\u4ef7\u683c\u7b49\u56e0\u7d20\u3002\u4f8b\u5982\uff0c\u5982\u679c\u4f60\u9700\u8981\u4e00\u4e2a\u9ad8\u7cbe\u5ea6\u7684\u673a\u68b0\u81c2\u6765\u5b8c\u6210\u590d\u6742\u7684\u88c5\u914d\u4efb\u52a1\uff0c\u90a3\u4e48\u9009\u62e9\u4e00\u4e2a\u5177\u6709\u9ad8\u7cbe\u5ea6\u548c\u9ad8\u91cd\u590d\u6027\u7279\u6027\u7684\u673a\u68b0\u81c2\u5c31\u5f88\u91cd\u8981\u3002\u53e6\u5916\uff0c\u8fd8\u9700\u8981\u8003\u8651\u673a\u68b0\u81c2\u7684\u7f16\u7a0b\u63a5\u53e3\u548c\u652f\u6301\u7684\u7f16\u7a0b\u8bed\u8a00\uff0c\u786e\u4fdd\u5176\u652f\u6301Python\u7f16\u7a0b\u8bed\u8a00\u3002\u9009\u62e9\u4e00\u4e2a\u5408\u9002\u7684\u673a\u68b0\u81c2\u80fd\u591f\u5927\u5927\u7b80\u5316\u540e\u7eed\u7684\u7f16\u7a0b\u548c\u63a7\u5236\u5de5\u4f5c\u3002<\/p>\n<\/p>\n

\n

\u4e00\u3001\u9009\u62e9\u5408\u9002\u7684\u673a\u68b0\u81c2<\/strong><\/h2>\n

1\u3001\u7528\u9014\u548c\u5e94\u7528\u573a\u666f<\/h2>\n<\/p>\n

\u5728\u9009\u62e9\u673a\u68b0\u81c2\u4e4b\u524d\uff0c\u9996\u5148\u9700\u8981\u660e\u786e\u5176\u7528\u9014\u548c\u5e94\u7528\u573a\u666f\u3002\u4f8b\u5982\uff0c\u5982\u679c\u4f60\u6253\u7b97\u4f7f\u7528\u673a\u68b0\u81c2\u8fdb\u884c\u88c5\u914d\u5de5\u4f5c\uff0c\u53ef\u80fd\u9700\u8981\u4e00\u4e2a\u5177\u6709\u9ad8\u7cbe\u5ea6\u3001\u9ad8\u91cd\u590d\u6027\u7684\u673a\u68b0\u81c2\u3002\u5982\u679c\u662f\u7528\u4e8e\u642c\u8fd0\u8d27\u7269\uff0c\u90a3\u4e48\u9700\u8981\u8003\u8651\u673a\u68b0\u81c2\u7684\u8d1f\u8f7d\u80fd\u529b\u548c\u8fd0\u52a8\u8303\u56f4\u3002<\/p>\n<\/p>\n

\u5de5\u4e1a\u7528\u9014<\/h3>\n<\/p>\n

\u5bf9\u4e8e\u5de5\u4e1a\u7528\u9014\uff0c\u673a\u68b0\u81c2\u901a\u5e38\u9700\u8981\u5177\u6709\u9ad8\u7cbe\u5ea6\u3001\u9ad8\u8d1f\u8f7d\u80fd\u529b\u548c\u957f\u5bff\u547d\u3002\u5e38\u89c1\u7684\u5de5\u4e1a\u673a\u68b0\u81c2\u54c1\u724c\u5305\u62ecABB\u3001Fanuc\u3001KUKA\u548cYaskawa\u7b49\u3002\u8fd9\u4e9b\u54c1\u724c\u7684\u673a\u68b0\u81c2\u901a\u5e38\u5177\u6709\u5f3a\u5927\u7684\u529f\u80fd\u548c\u53ef\u9760\u7684\u6027\u80fd\uff0c\u4f46\u4ef7\u683c\u4e5f\u76f8\u5bf9\u8f83\u9ad8\u3002<\/p>\n<\/p>\n

\u6559\u80b2\u548c\u7814\u7a76\u7528\u9014<\/h3>\n<\/p>\n

\u5bf9\u4e8e\u6559\u80b2\u548c\u7814\u7a76\u7528\u9014\uff0c\u901a\u5e38\u9700\u8981\u9009\u62e9\u4ef7\u683c\u76f8\u5bf9\u8f83\u4f4e\u3001\u6613\u4e8e\u7f16\u7a0b\u548c\u63a7\u5236\u7684\u673a\u68b0\u81c2\u3002\u4f8b\u5982\uff0cDOBOT\u3001uArm\u548cTrossen Robotics\u7b49\u54c1\u724c\u63d0\u4f9b\u7684\u673a\u68b0\u81c2\uff0c\u4ef7\u683c\u8f83\u4e3a\u4eb2\u6c11\uff0c\u5e76\u4e14\u63d0\u4f9b\u4e30\u5bcc\u7684\u7f16\u7a0b\u63a5\u53e3\u548c\u5f00\u6e90\u4ee3\u7801\uff0c\u9002\u5408\u7528\u4e8e\u6559\u5b66\u548c\u79d1\u7814\u3002<\/p>\n<\/p>\n

2\u3001\u8d1f\u8f7d\u80fd\u529b\u548c\u8fd0\u52a8\u8303\u56f4<\/h2>\n<\/p>\n

\u673a\u68b0\u81c2\u7684\u8d1f\u8f7d\u80fd\u529b\u548c\u8fd0\u52a8\u8303\u56f4\u662f\u9009\u62e9\u673a\u68b0\u81c2\u65f6\u9700\u8981\u91cd\u70b9\u8003\u8651\u7684\u56e0\u7d20\u3002\u8d1f\u8f7d\u80fd\u529b\u51b3\u5b9a\u4e86\u673a\u68b0\u81c2\u80fd\u591f\u642c\u8fd0\u7684\u6700\u5927\u91cd\u91cf\uff0c\u8fd0\u52a8\u8303\u56f4\u5219\u51b3\u5b9a\u4e86\u673a\u68b0\u81c2\u80fd\u591f\u5230\u8fbe\u7684\u7a7a\u95f4\u8303\u56f4\u3002<\/p>\n<\/p>\n

\u8d1f\u8f7d\u80fd\u529b<\/h3>\n<\/p>\n

\u8d1f\u8f7d\u80fd\u529b\u901a\u5e38\u4ee5\u5343\u514b\uff08kg\uff09\u4e3a\u5355\u4f4d\u8868\u793a\u3002\u5728\u9009\u62e9\u673a\u68b0\u81c2\u65f6\uff0c\u9700\u8981\u6839\u636e\u5b9e\u9645\u9700\u6c42\u9009\u62e9\u5408\u9002\u7684\u8d1f\u8f7d\u80fd\u529b\u3002\u5982\u679c\u9700\u8981\u642c\u8fd0\u91cd\u7269\uff0c\u5219\u9700\u8981\u9009\u62e9\u8d1f\u8f7d\u80fd\u529b\u8f83\u5927\u7684\u673a\u68b0\u81c2\uff1b\u5982\u679c\u53ea\u662f\u8fdb\u884c\u8f7b\u91cf\u7ea7\u7684\u64cd\u4f5c\uff0c\u5219\u53ef\u4ee5\u9009\u62e9\u8d1f\u8f7d\u80fd\u529b\u8f83\u5c0f\u7684\u673a\u68b0\u81c2\u3002<\/p>\n<\/p>\n

\u8fd0\u52a8\u8303\u56f4<\/h3>\n<\/p>\n

\u8fd0\u52a8\u8303\u56f4\u901a\u5e38\u4ee5\u5ea6\uff08\u00b0\uff09\u6216\u6beb\u7c73\uff08mm\uff09\u4e3a\u5355\u4f4d\u8868\u793a\uff0c\u8868\u793a\u673a\u68b0\u81c2\u5404\u4e2a\u5173\u8282\u7684\u65cb\u8f6c\u89d2\u5ea6\u548c\u673a\u68b0\u81c2\u672b\u7aef\u6267\u884c\u5668\u7684\u53ef\u8fbe\u7a7a\u95f4\u3002\u5728\u9009\u62e9\u673a\u68b0\u81c2\u65f6\uff0c\u9700\u8981\u786e\u4fdd\u5176\u8fd0\u52a8\u8303\u56f4\u80fd\u591f\u8986\u76d6\u9884\u671f\u7684\u5de5\u4f5c\u533a\u57df\u3002<\/p>\n<\/p>\n

3\u3001\u7cbe\u5ea6\u548c\u91cd\u590d\u6027<\/h2>\n<\/p>\n

\u673a\u68b0\u81c2\u7684\u7cbe\u5ea6\u548c\u91cd\u590d\u6027\u662f\u8861\u91cf\u5176\u6027\u80fd\u7684\u91cd\u8981\u6307\u6807\u3002\u7cbe\u5ea6\u8868\u793a\u673a\u68b0\u81c2\u80fd\u591f\u8fbe\u5230\u76ee\u6807\u4f4d\u7f6e\u7684\u51c6\u786e\u7a0b\u5ea6\uff0c\u91cd\u590d\u6027\u8868\u793a\u673a\u68b0\u81c2\u5728\u591a\u6b21\u91cd\u590d\u64cd\u4f5c\u4e2d\u8fbe\u5230\u540c\u4e00\u4f4d\u7f6e\u7684\u7a33\u5b9a\u6027\u3002<\/p>\n<\/p>\n

\u7cbe\u5ea6<\/h3>\n<\/p>\n

\u7cbe\u5ea6\u901a\u5e38\u4ee5\u6beb\u7c73\uff08mm\uff09\u6216\u5fae\u7c73\uff08\u03bcm\uff09\u4e3a\u5355\u4f4d\u8868\u793a\u3002\u5728\u9009\u62e9\u673a\u68b0\u81c2\u65f6\uff0c\u9700\u8981\u6839\u636e\u5b9e\u9645\u9700\u6c42\u9009\u62e9\u5408\u9002\u7684\u7cbe\u5ea6\u3002\u5982\u679c\u9700\u8981\u8fdb\u884c\u9ad8\u7cbe\u5ea6\u7684\u64cd\u4f5c\uff0c\u5982\u88c5\u914d\u5fae\u5c0f\u96f6\u4ef6\uff0c\u5219\u9700\u8981\u9009\u62e9\u7cbe\u5ea6\u8f83\u9ad8\u7684\u673a\u68b0\u81c2\u3002<\/p>\n<\/p>\n

\u91cd\u590d\u6027<\/h3>\n<\/p>\n

\u91cd\u590d\u6027\u901a\u5e38\u4ee5\u6beb\u7c73\uff08mm\uff09\u4e3a\u5355\u4f4d\u8868\u793a\u3002\u5728\u9009\u62e9\u673a\u68b0\u81c2\u65f6\uff0c\u9700\u8981\u786e\u4fdd\u5176\u91cd\u590d\u6027\u80fd\u591f\u6ee1\u8db3\u9884\u671f\u7684\u64cd\u4f5c\u8981\u6c42\u3002\u9ad8\u91cd\u590d\u6027\u7684\u673a\u68b0\u81c2\u80fd\u591f\u5728\u591a\u6b21\u64cd\u4f5c\u4e2d\u4fdd\u6301\u4e00\u81f4\u7684\u6027\u80fd\uff0c\u63d0\u9ad8\u5de5\u4f5c\u6548\u7387\u548c\u8d28\u91cf\u3002<\/p>\n<\/p>\n

4\u3001\u4ef7\u683c\u548c\u9884\u7b97<\/h2>\n<\/p>\n

\u673a\u68b0\u81c2\u7684\u4ef7\u683c\u662f\u9009\u62e9\u673a\u68b0\u81c2\u65f6\u9700\u8981\u8003\u8651\u7684\u53e6\u4e00\u4e2a\u91cd\u8981\u56e0\u7d20\u3002\u4e0d\u540c\u54c1\u724c\u548c\u578b\u53f7\u7684\u673a\u68b0\u81c2\u4ef7\u683c\u5dee\u5f02\u8f83\u5927\uff0c\u4ece\u51e0\u5343\u5143\u5230\u51e0\u5341\u4e07\u5143\u4e0d\u7b49\u3002\u5728\u9009\u62e9\u673a\u68b0\u81c2\u65f6\uff0c\u9700\u8981\u6839\u636e\u5b9e\u9645\u9884\u7b97\u9009\u62e9\u5408\u9002\u7684\u673a\u68b0\u81c2\u3002<\/p>\n<\/p>\n

\u4ef7\u683c\u533a\u95f4<\/h3>\n<\/p>\n

\u673a\u68b0\u81c2\u7684\u4ef7\u683c\u901a\u5e38\u4e0e\u5176\u6027\u80fd\u3001\u529f\u80fd\u548c\u54c1\u724c\u6709\u5173\u3002\u9ad8\u7aef\u7684\u5de5\u4e1a\u673a\u68b0\u81c2\u4ef7\u683c\u8f83\u9ad8\uff0c\u4f46\u6027\u80fd\u548c\u53ef\u9760\u6027\u4e5f\u8f83\u597d\uff1b\u4f4e\u7aef\u7684\u6559\u80b2\u548c\u79d1\u7814\u7528\u673a\u68b0\u81c2\u4ef7\u683c\u8f83\u4f4e\uff0c\u4f46\u529f\u80fd\u548c\u6027\u80fd\u76f8\u5bf9\u6709\u9650\u3002\u5728\u9009\u62e9\u673a\u68b0\u81c2\u65f6\uff0c\u9700\u8981\u6839\u636e\u5b9e\u9645\u9700\u6c42\u548c\u9884\u7b97\u8fdb\u884c\u6743\u8861\u3002<\/p>\n<\/p>\n

\u7ef4\u62a4\u6210\u672c<\/h3>\n<\/p>\n

\u9664\u4e86\u8d2d\u4e70\u6210\u672c\u5916\uff0c\u8fd8\u9700\u8981\u8003\u8651\u673a\u68b0\u81c2\u7684\u7ef4\u62a4\u6210\u672c\u3002\u673a\u68b0\u81c2\u5728\u4f7f\u7528\u8fc7\u7a0b\u4e2d\u53ef\u80fd\u9700\u8981\u5b9a\u671f\u7ef4\u62a4\u548c\u4fdd\u517b\uff0c\u5982\u66f4\u6362\u96f6\u4ef6\u3001\u6da6\u6ed1\u548c\u6821\u51c6\u7b49\u3002\u5728\u9009\u62e9\u673a\u68b0\u81c2\u65f6\uff0c\u9700\u8981\u4e86\u89e3\u5176\u7ef4\u62a4\u6210\u672c\u548c\u7ef4\u62a4\u5468\u671f\uff0c\u786e\u4fdd\u80fd\u591f\u627f\u53d7\u540e\u7eed\u7684\u7ef4\u62a4\u8d39\u7528\u3002<\/p>\n<\/p>\n

\n

\u4e8c\u3001\u5b89\u88c5\u76f8\u5173\u7684\u8f6f\u4ef6\u5305<\/strong><\/h2>\n

1\u3001Python\u73af\u5883\u914d\u7f6e<\/h2>\n<\/p>\n

\u5728\u63a7\u5236\u673a\u68b0\u81c2\u4e4b\u524d\uff0c\u9700\u8981\u914d\u7f6ePython\u73af\u5883\u3002\u9996\u5148\uff0c\u786e\u4fdd\u5df2\u7ecf\u5b89\u88c5\u4e86Python\uff0c\u5e76\u4e14\u7248\u672c\u6ee1\u8db3\u6240\u9700\u8f6f\u4ef6\u5305\u7684\u8981\u6c42\u3002\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u68c0\u67e5Python\u7248\u672c\uff1a<\/p>\n<\/p>\n

python --version<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u5982\u679c\u6ca1\u6709\u5b89\u88c5Python\uff0c\u53ef\u4ee5\u4ecePython\u5b98\u65b9\u7f51\u7ad9\u4e0b\u8f7d\u5e76\u5b89\u88c5\u3002<\/p>\n<\/p>\n
2\u3001\u5b89\u88c5\u673a\u68b0\u81c2\u63a7\u5236\u76f8\u5173\u7684\u8f6f\u4ef6\u5305<\/h2>\n<\/p>\n
\u4e0d\u540c\u7684\u673a\u68b0\u81c2\u53ef\u80fd\u9700\u8981\u4e0d\u540c\u7684\u8f6f\u4ef6\u5305\u6765\u8fdb\u884c\u63a7\u5236\u3002\u4ee5\u4e0b\u662f\u4e00\u4e9b\u5e38\u89c1\u7684\u673a\u68b0\u81c2\u63a7\u5236\u8f6f\u4ef6\u5305\uff1a<\/p>\n<\/p>\n
ROS\uff08Robot Operating System\uff09<\/h3>\n<\/p>\n
ROS\u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5e7f\u6cdb\u7528\u4e8e\u673a\u5668\u4eba\u63a7\u5236\u548c\u5f00\u53d1\u3002ROS\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u5de5\u5177\u548c\u5e93\uff0c\u53ef\u4ee5\u7528\u4e8e\u63a7\u5236\u5404\u79cd\u7c7b\u578b\u7684\u673a\u68b0\u81c2\u3002\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88c5ROS\uff1a<\/p>\n<\/p>\n
sudo apt update<\/p>\n
sudo apt install ros-noetic-desktop-full<\/p>\n
<\/code><\/pre>\n<\/p>\n
pySerial<\/h3>\n<\/p>\n
pySerial\u662f\u4e00\u4e2a\u7528\u4e8e\u4e32\u53e3\u901a\u4fe1\u7684Python\u5e93\uff0c\u53ef\u4ee5\u7528\u4e8e\u901a\u8fc7\u4e32\u53e3\u4e0e\u673a\u68b0\u81c2\u8fdb\u884c\u901a\u4fe1\u3002\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88c5pySerial\uff1a<\/p>\n<\/p>\n
pip install pyserial<\/p>\n
<\/code><\/pre>\n<\/p>\n
MoveIt<\/h3>\n<\/p>\n
MoveIt\u662f\u4e00\u4e2a\u7528\u4e8e\u673a\u5668\u4eba\u8fd0\u52a8\u89c4\u5212\u548c\u63a7\u5236\u7684ROS\u63d2\u4ef6\uff0c\u53ef\u4ee5\u7528\u4e8e\u89c4\u5212\u548c\u63a7\u5236\u673a\u68b0\u81c2\u7684\u8fd0\u52a8\u3002\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88c5MoveIt\uff1a<\/p>\n<\/p>\n
sudo apt install ros-noetic-moveit<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u673a\u68b0\u81c2\u5382\u5546\u63d0\u4f9b\u7684SDK<\/h3>\n<\/p>\n
\u8bb8\u591a\u673a\u68b0\u81c2\u5382\u5546\u63d0\u4f9b\u4e86\u7528\u4e8e\u63a7\u5236\u5176\u673a\u68b0\u81c2\u7684SDK\uff08\u8f6f\u4ef6\u5f00\u53d1\u5de5\u5177\u5305\uff09\u3002\u8fd9\u4e9bSDK\u901a\u5e38\u5305\u542b\u4e86\u63a7\u5236\u673a\u68b0\u81c2\u6240\u9700\u7684\u5e93\u548c\u793a\u4f8b\u4ee3\u7801\u3002\u53ef\u4ee5\u4ece\u673a\u68b0\u81c2\u5382\u5546\u7684\u5b98\u65b9\u7f51\u7ad9\u4e0b\u8f7d\u5e76\u5b89\u88c5\u76f8\u5e94\u7684SDK\u3002<\/p>\n<\/p>\n
3\u3001\u914d\u7f6e\u5f00\u53d1\u73af\u5883<\/h2>\n<\/p>\n
\u5728\u5b89\u88c5\u4e86\u6240\u9700\u7684\u8f6f\u4ef6\u5305\u540e\uff0c\u8fd8\u9700\u8981\u914d\u7f6e\u5f00\u53d1\u73af\u5883\uff0c\u4ee5\u4fbf\u8fdb\u884c\u673a\u68b0\u81c2\u63a7\u5236\u4ee3\u7801\u7684\u7f16\u5199\u548c\u8c03\u8bd5\u3002\u53ef\u4ee5\u4f7f\u7528\u4efb\u4f55\u719f\u6089\u7684\u4ee3\u7801\u7f16\u8f91\u5668\u6216IDE\uff08\u96c6\u6210\u5f00\u53d1\u73af\u5883\uff09\uff0c\u5982Visual Studio Code\u3001PyCharm\u6216Jupyter Notebook\u7b49\u3002<\/p>\n<\/p>\n
Visual Studio Code<\/h3>\n<\/p>\n
Visual Studio Code\u662f\u4e00\u4e2a\u6d41\u884c\u7684\u4ee3\u7801\u7f16\u8f91\u5668\uff0c\u652f\u6301Python\u7f16\u7a0b\uff0c\u5e76\u4e14\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u63d2\u4ef6\u548c\u6269\u5c55\u3002\u53ef\u4ee5\u4eceVisual Studio Code\u5b98\u65b9\u7f51\u7ad9\u4e0b\u8f7d\u5e76\u5b89\u88c5\u3002<\/p>\n<\/p>\n
PyCharm<\/h3>\n<\/p>\n
PyCharm\u662f\u4e00\u4e2a\u4e13\u4e1a\u7684Python IDE\uff0c\u63d0\u4f9b\u4e86\u5f3a\u5927\u7684\u4ee3\u7801\u7f16\u8f91\u548c\u8c03\u8bd5\u529f\u80fd\u3002\u53ef\u4ee5\u4ecePyCharm\u5b98\u65b9\u7f51\u7ad9\u4e0b\u8f7d\u5e76\u5b89\u88c5\u3002<\/p>\n<\/p>\n
Jupyter Notebook<\/h3>\n<\/p>\n
Jupyter Notebook\u662f\u4e00\u4e2a\u4ea4\u4e92\u5f0f\u7684\u4ee3\u7801\u7f16\u8f91\u548c\u6267\u884c\u73af\u5883\uff0c\u9002\u5408\u7528\u4e8e\u7f16\u5199\u548c\u8c03\u8bd5Python\u4ee3\u7801\u3002\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88c5Jupyter Notebook\uff1a<\/p>\n<\/p>\n
pip install jupyter<\/p>\n
<\/code><\/pre>\n<\/p>\n
\n
\u4e09\u3001\u8fde\u63a5\u673a\u68b0\u81c2<\/strong><\/h2>\n
1\u3001\u8fde\u63a5\u786c\u4ef6<\/h2>\n<\/p>\n
\u5728\u63a7\u5236\u673a\u68b0\u81c2\u4e4b\u524d\uff0c\u9700\u8981\u5c06\u673a\u68b0\u81c2\u4e0e\u8ba1\u7b97\u673a\u8fde\u63a5\u3002\u4e0d\u540c\u7684\u673a\u68b0\u81c2\u53ef\u80fd\u6709\u4e0d\u540c\u7684\u8fde\u63a5\u65b9\u5f0f\uff0c\u5e38\u89c1\u7684\u8fde\u63a5\u65b9\u5f0f\u5305\u62ecUSB\u3001\u4ee5\u592a\u7f51\u548c\u65e0\u7ebf\u8fde\u63a5\u7b49\u3002<\/p>\n<\/p>\n
USB\u8fde\u63a5<\/h3>\n<\/p>\n
USB\u8fde\u63a5\u662f\u6700\u5e38\u89c1\u7684\u8fde\u63a5\u65b9\u5f0f\u4e4b\u4e00\u3002\u53ef\u4ee5\u901a\u8fc7USB\u7ebf\u5c06\u673a\u68b0\u81c2\u4e0e\u8ba1\u7b97\u673a\u8fde\u63a5\uff0c\u7136\u540e\u5728\u8ba1\u7b97\u673a\u4e0a\u5b89\u88c5\u76f8\u5e94\u7684\u9a71\u52a8\u7a0b\u5e8f\u3002\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u68c0\u67e5USB\u8bbe\u5907\uff1a<\/p>\n<\/p>\n
ls \/dev\/ttyUSB*<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u4ee5\u592a\u7f51\u8fde\u63a5<\/h3>\n<\/p>\n
\u4ee5\u592a\u7f51\u8fde\u63a5\u901a\u5e38\u7528\u4e8e\u5de5\u4e1a\u673a\u68b0\u81c2\uff0c\u53ef\u4ee5\u901a\u8fc7\u4ee5\u592a\u7f51\u7ebf\u5c06\u673a\u68b0\u81c2\u4e0e\u8ba1\u7b97\u673a\u8fde\u63a5\uff0c\u7136\u540e\u914d\u7f6eIP\u5730\u5740\u548c\u7aef\u53e3\u53f7\u3002\u5728\u8ba1\u7b97\u673a\u4e0a\u53ef\u4ee5\u4f7f\u7528\u7f51\u7edc\u5de5\u5177\uff08\u5982ping\uff09\u68c0\u67e5\u8fde\u63a5\u72b6\u6001\u3002<\/p>\n<\/p>\n
\u65e0\u7ebf\u8fde\u63a5<\/h3>\n<\/p>\n
\u67d0\u4e9b\u673a\u68b0\u81c2\u652f\u6301\u65e0\u7ebf\u8fde\u63a5\uff0c\u53ef\u4ee5\u901a\u8fc7Wi-Fi\u6216\u84dd\u7259\u4e0e\u8ba1\u7b97\u673a\u8fde\u63a5\u3002\u5728\u8fde\u63a5\u4e4b\u524d\uff0c\u9700\u8981\u786e\u4fdd\u8ba1\u7b97\u673a\u548c\u673a\u68b0\u81c2\u8fde\u63a5\u5230\u540c\u4e00\u4e2a\u65e0\u7ebf\u7f51\u7edc\uff0c\u6216\u8005\u901a\u8fc7\u84dd\u7259\u914d\u5bf9\u3002<\/p>\n<\/p>\n
2\u3001\u914d\u7f6e\u901a\u4fe1\u53c2\u6570<\/h2>\n<\/p>\n
\u5728\u8fde\u63a5\u673a\u68b0\u81c2\u540e\uff0c\u9700\u8981\u914d\u7f6e\u901a\u4fe1\u53c2\u6570\uff0c\u4ee5\u4fbf\u8ba1\u7b97\u673a\u80fd\u591f\u4e0e\u673a\u68b0\u81c2\u8fdb\u884c\u901a\u4fe1\u3002\u5e38\u89c1\u7684\u901a\u4fe1\u53c2\u6570\u5305\u62ec\u6ce2\u7279\u7387\u3001\u6570\u636e\u4f4d\u3001\u505c\u6b62\u4f4d\u548c\u6821\u9a8c\u4f4d\u7b49\u3002<\/p>\n<\/p>\n
\u6ce2\u7279\u7387<\/h3>\n<\/p>\n
\u6ce2\u7279\u7387\u8868\u793a\u6570\u636e\u4f20\u8f93\u7684\u901f\u5ea6\uff0c\u901a\u5e38\u4ee5bps\uff08\u6bd4\u7279\u6bcf\u79d2\uff09\u4e3a\u5355\u4f4d\u8868\u793a\u3002\u5728\u914d\u7f6e\u901a\u4fe1\u53c2\u6570\u65f6\uff0c\u9700\u8981\u786e\u4fdd\u6ce2\u7279\u7387\u4e0e\u673a\u68b0\u81c2\u7684\u6ce2\u7279\u7387\u8bbe\u7f6e\u4e00\u81f4\u3002<\/p>\n<\/p>\n
\u6570\u636e\u4f4d\u3001\u505c\u6b62\u4f4d\u548c\u6821\u9a8c\u4f4d<\/h3>\n<\/p>\n
\u6570\u636e\u4f4d\u8868\u793a\u6bcf\u4e2a\u6570\u636e\u5e27\u4e2d\u7684\u6570\u636e\u4f4d\u6570\uff0c\u5e38\u89c1\u7684\u503c\u4e3a8\u4f4d\u3002\u505c\u6b62\u4f4d\u8868\u793a\u6bcf\u4e2a\u6570\u636e\u5e27\u4e2d\u7684\u505c\u6b62\u4f4d\u6570\uff0c\u5e38\u89c1\u7684\u503c\u4e3a1\u4f4d\u62162\u4f4d\u3002\u6821\u9a8c\u4f4d\u7528\u4e8e\u68c0\u6d4b\u6570\u636e\u4f20\u8f93\u4e2d\u7684\u9519\u8bef\uff0c\u5e38\u89c1\u7684\u503c\u4e3a\u65e0\u6821\u9a8c\u3001\u5947\u6821\u9a8c\u6216\u5076\u6821\u9a8c\u3002\u5728\u914d\u7f6e\u901a\u4fe1\u53c2\u6570\u65f6\uff0c\u9700\u8981\u786e\u4fdd\u6570\u636e\u4f4d\u3001\u505c\u6b62\u4f4d\u548c\u6821\u9a8c\u4f4d\u4e0e\u673a\u68b0\u81c2\u7684\u8bbe\u7f6e\u4e00\u81f4\u3002<\/p>\n<\/p>\n
3\u3001\u6d4b\u8bd5\u8fde\u63a5<\/h2>\n<\/p>\n
\u5728\u914d\u7f6e\u901a\u4fe1\u53c2\u6570\u540e\uff0c\u53ef\u4ee5\u901a\u8fc7\u7f16\u5199\u7b80\u5355\u7684\u6d4b\u8bd5\u4ee3\u7801\u6765\u6d4b\u8bd5\u673a\u68b0\u81c2\u7684\u8fde\u63a5\u662f\u5426\u6b63\u5e38\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u7f16\u5199\u4ee3\u7801\u53d1\u9001\u7b80\u5355\u7684\u547d\u4ee4\u7ed9\u673a\u68b0\u81c2\uff0c\u5e76\u68c0\u67e5\u673a\u68b0\u81c2\u7684\u54cd\u5e94\u3002<\/p>\n<\/p>\n
\u4ee5\u4e0b\u662f\u4e00\u4e2a\u4f7f\u7528pySerial\u5e93\u6d4b\u8bd5\u673a\u68b0\u81c2\u8fde\u63a5\u7684\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n
import serial<\/p>\n
\u914d\u7f6e\u4e32\u53e3\u53c2\u6570<\/strong><\/h2>\n
ser = serial.Serial('\/dev\/ttyUSB0', 115200, timeout=1)<\/p>\n
\u53d1\u9001\u547d\u4ee4<\/strong><\/h2>\n
ser.write(b'G28\\n')  # \u53d1\u9001\u590d\u4f4d\u547d\u4ee4<\/p>\n
\u8bfb\u53d6\u54cd\u5e94<\/strong><\/h2>\n
response = ser.readline()<\/p>\n
print('Response:', response.decode('utf-8'))<\/p>\n
\u5173\u95ed\u4e32\u53e3<\/strong><\/h2>\n
ser.close()<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u5728\u8fd0\u884c\u4e0a\u8ff0\u4ee3\u7801\u65f6\uff0c\u5982\u679c\u673a\u68b0\u81c2\u80fd\u591f\u6b63\u5e38\u54cd\u5e94\uff0c\u5219\u8868\u793a\u8fde\u63a5\u6210\u529f\u3002<\/p>\n<\/p>\n
\n
\u56db\u3001\u7f16\u5199\u63a7\u5236\u4ee3\u7801<\/strong><\/h2>\n
1\u3001\u673a\u68b0\u81c2\u8fd0\u52a8\u63a7\u5236<\/h2>\n<\/p>\n
\u673a\u68b0\u81c2\u7684\u8fd0\u52a8\u63a7\u5236\u5305\u62ec\u5173\u8282\u7a7a\u95f4\u63a7\u5236\u548c\u7b1b\u5361\u5c14\u7a7a\u95f4\u63a7\u5236\u4e24\u79cd\u65b9\u5f0f\u3002\u5173\u8282\u7a7a\u95f4\u63a7\u5236\u76f4\u63a5\u63a7\u5236\u673a\u68b0\u81c2\u5404\u4e2a\u5173\u8282\u7684\u89d2\u5ea6\uff0c\u7b1b\u5361\u5c14\u7a7a\u95f4\u63a7\u5236\u5219\u901a\u8fc7\u63a7\u5236\u673a\u68b0\u81c2\u672b\u7aef\u6267\u884c\u5668\u7684\u4f4d\u59ff\u6765\u5b9e\u73b0\u3002<\/p>\n<\/p>\n
\u5173\u8282\u7a7a\u95f4\u63a7\u5236<\/h3>\n<\/p>\n
\u5173\u8282\u7a7a\u95f4\u63a7\u5236\u662f\u901a\u8fc7\u8bbe\u7f6e\u673a\u68b0\u81c2\u5404\u4e2a\u5173\u8282\u7684\u89d2\u5ea6\u6765\u63a7\u5236\u673a\u68b0\u81c2\u7684\u8fd0\u52a8\u3002\u4ee5\u4e0b\u662f\u4e00\u4e2a\u4f7f\u7528pySerial\u5e93\u5b9e\u73b0\u5173\u8282\u7a7a\u95f4\u63a7\u5236\u7684\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n
import serial<\/p>\n
\u914d\u7f6e\u4e32\u53e3\u53c2\u6570<\/strong><\/h2>\n
ser = serial.Serial('\/dev\/ttyUSB0', 115200, timeout=1)<\/p>\n
\u53d1\u9001\u5173\u8282\u89d2\u5ea6\u547d\u4ee4<\/strong><\/h2>\n
joint_angles = [90, 45, 30, 0, 0, 0]  # \u5404\u5173\u8282\u89d2\u5ea6<\/p>\n
command = f'G0 X{joint_angles[0]} Y{joint_angles[1]} Z{joint_angles[2]} A{joint_angles[3]} B{joint_angles[4]} C{joint_angles[5]}\\n'<\/p>\n
ser.write(command.encode('utf-8'))<\/p>\n
\u8bfb\u53d6\u54cd\u5e94<\/strong><\/h2>\n
response = ser.readline()<\/p>\n
print('Response:', response.decode('utf-8'))<\/p>\n
\u5173\u95ed\u4e32\u53e3<\/strong><\/h2>\n
ser.close()<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u7b1b\u5361\u5c14\u7a7a\u95f4\u63a7\u5236<\/h3>\n<\/p>\n
\u7b1b\u5361\u5c14\u7a7a\u95f4\u63a7\u5236\u662f\u901a\u8fc7\u8bbe\u7f6e\u673a\u68b0\u81c2\u672b\u7aef\u6267\u884c\u5668\u7684\u4f4d\u59ff\uff08\u4f4d\u7f6e\u548c\u59ff\u6001\uff09\u6765\u63a7\u5236\u673a\u68b0\u81c2\u7684\u8fd0\u52a8\u3002\u4ee5\u4e0b\u662f\u4e00\u4e2a\u4f7f\u7528pySerial\u5e93\u5b9e\u73b0\u7b1b\u5361\u5c14\u7a7a\u95f4\u63a7\u5236\u7684\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n
import serial<\/p>\n
\u914d\u7f6e\u4e32\u53e3\u53c2\u6570<\/strong><\/h2>\n
ser = serial.Serial('\/dev\/ttyUSB0', 115200, timeout=1)<\/p>\n
\u53d1\u9001\u4f4d\u59ff\u547d\u4ee4<\/strong><\/h2>\n
position = [200, 100, 150]  # \u4f4d\u7f6e\u5750\u6807\uff08\u5355\u4f4d\uff1amm\uff09<\/p>\n
orientation = [0, 0, 0]  # \u59ff\u6001\u89d2\u5ea6\uff08\u5355\u4f4d\uff1a\u5ea6\uff09<\/p>\n
command = f'G1 X{position[0]} Y{position[1]} Z{position[2]} A{orientation[0]} B{orientation[1]} C{orientation[2]}\\n'<\/p>\n
ser.write(command.encode('utf-8'))<\/p>\n
\u8bfb\u53d6\u54cd\u5e94<\/strong><\/h2>\n
response = ser.readline()<\/p>\n
print('Response:', response.decode('utf-8'))<\/p>\n
\u5173\u95ed\u4e32\u53e3<\/strong><\/h2>\n
ser.close()<\/p>\n
<\/code><\/pre>\n<\/p>\n
2\u3001\u673a\u68b0\u81c2\u4efb\u52a1\u89c4\u5212<\/h2>\n<\/p>\n
\u673a\u68b0\u81c2\u4efb\u52a1\u89c4\u5212\u662f\u901a\u8fc7\u7f16\u5199\u7a0b\u5e8f\u6765\u81ea\u52a8\u5316\u6267\u884c\u7279\u5b9a\u4efb\u52a1\u3002\u4efb\u52a1\u89c4\u5212\u53ef\u4ee5\u5305\u62ec\u591a\u4e2a\u6b65\u9aa4\uff0c\u5982\u6293\u53d6\u3001\u642c\u8fd0\u548c\u653e\u7f6e\u7b49\u3002\u4ee5\u4e0b\u662f\u4e00\u4e2a\u793a\u4f8b\u4ee3\u7801\uff0c\u7528\u4e8e\u5b9e\u73b0\u673a\u68b0\u81c2\u6293\u53d6\u5e76\u642c\u8fd0\u7269\u4f53\u7684\u4efb\u52a1\uff1a<\/p>\n<\/p>\n
import serial<\/p>\n
import time<\/p>\n
\u914d\u7f6e\u4e32\u53e3\u53c2\u6570<\/strong><\/h2>\n
ser = serial.Serial('\/dev\/ttyUSB0', 115200, timeout=1)<\/p>\n
\u5b9a\u4e49\u6293\u53d6\u4f4d\u7f6e\u548c\u653e\u7f6e\u4f4d\u7f6e<\/strong><\/h2>\n
grab_position = [200, 100, 150]<\/p>\n
place_position = [300, 100, 150]<\/p>\n
\u5b9a\u4e49\u6293\u53d6\u548c\u653e\u7f6e\u7684\u59ff\u6001<\/strong><\/h2>\n
grab_orientation = [0, 0, 0]<\/p>\n
place_orientation = [0, 0, 0]<\/p>\n
\u79fb\u52a8\u5230\u6293\u53d6\u4f4d\u7f6e<\/strong><\/h2>\n
command = f'G1 X{grab_position[0]} Y{grab_position[1]} Z{grab_position[2]} A{grab_orientation[0]} B{grab_orientation[1]} C{grab_orientation[2]}\\n'<\/p>\n
ser.write(command.encode('utf-8'))<\/p>\n
time.sleep(2)  # \u7b49\u5f85\u673a\u68b0\u81c2\u79fb\u52a8\u5b8c\u6210<\/p>\n
\u6267\u884c\u6293\u53d6\u64cd\u4f5c<\/strong><\/h2>\n
ser.write(b'GRAB\\n')  # \u53d1\u9001\u6293\u53d6\u547d\u4ee4<\/p>\n
time.sleep(1)  # \u7b49\u5f85\u6293\u53d6\u5b8c\u6210<\/p>\n
\u79fb\u52a8\u5230\u653e\u7f6e\u4f4d\u7f6e<\/strong><\/h2>\n
command = f'G1 X{place_position[0]} Y{place_position[1]} Z{place_position[2]} A{place_orientation[0]} B{place_orientation[1]} C{place_orientation[2]}\\n'<\/p>\n
ser.write(command.encode('utf-8'))<\/p>\n
time.sleep(2)  # \u7b49\u5f85\u673a\u68b0\u81c2\u79fb\u52a8\u5b8c\u6210<\/p>\n
\u6267\u884c\u653e\u7f6e\u64cd\u4f5c<\/strong><\/h2>\n
ser.write(b'PLACE\\n')  # \u53d1\u9001\u653e\u7f6e\u547d\u4ee4<\/p>\n
time.sleep(1)  # \u7b49\u5f85\u653e\u7f6e\u5b8c\u6210<\/p>\n
\u5173\u95ed\u4e32\u53e3<\/strong><\/h2>\n
ser.close()<\/p>\n
<\/code><\/pre>\n<\/p>\n
3\u3001\u9519\u8bef\u5904\u7406\u548c\u5f02\u5e38\u6355\u83b7<\/h2>\n<\/p>\n
\u5728\u63a7\u5236\u673a\u68b0\u81c2\u7684\u8fc7\u7a0b\u4e2d\uff0c\u53ef\u80fd\u4f1a\u9047\u5230\u5404\u79cd\u9519\u8bef\u548c\u5f02\u5e38\u60c5\u51b5\uff0c\u5982\u901a\u4fe1\u9519\u8bef\u3001\u673a\u68b0\u81c2\u6545\u969c\u7b49\u3002\u4e3a\u4e86\u63d0\u9ad8\u7a0b\u5e8f\u7684\u7a33\u5b9a\u6027\u548c\u53ef\u9760\u6027\uff0c\u9700\u8981\u7f16\u5199\u9519\u8bef\u5904\u7406\u548c\u5f02\u5e38\u6355\u83b7\u4ee3\u7801\u3002<\/p>\n<\/p>\n
\u901a\u4fe1\u9519\u8bef\u5904\u7406<\/h3>\n<\/p>\n
\u901a\u4fe1\u9519\u8bef\u53ef\u80fd\u5305\u62ec\u8fde\u63a5\u5931\u8d25\u3001\u6570\u636e\u4f20\u8f93\u9519\u8bef\u7b49\u3002\u5728\u7f16\u5199\u4ee3\u7801\u65f6\uff0c\u53ef\u4ee5\u4f7f\u7528try-except\u5757\u6765\u6355\u83b7\u901a\u4fe1\u9519\u8bef\uff0c\u5e76\u8fdb\u884c\u76f8\u5e94\u7684\u5904\u7406\u3002\u4f8b\u5982\uff1a<\/p>\n<\/p>\n
import serial<\/p>\n
try:<\/p>\n
    # \u914d\u7f6e\u4e32\u53e3\u53c2\u6570<\/p>\n
    ser = serial.Serial('\/dev\/ttyUSB0', 115200, timeout=1)<\/p>\n
    # \u53d1\u9001\u547d\u4ee4<\/p>\n
    ser.write(b'G28\\n')  # \u53d1\u9001\u590d\u4f4d\u547d\u4ee4<\/p>\n
    # \u8bfb\u53d6\u54cd\u5e94<\/p>\n
    response = ser.readline()<\/p>\n
    print('Response:', response.decode('utf-8'))<\/p>\n
except serial.SerialException as e:<\/p>\n
    print('Communication error:', e)<\/p>\n
finally:<\/p>\n
    if ser.is_open:<\/p>\n
        ser.close()<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u673a\u68b0\u81c2\u6545\u969c\u5904\u7406<\/h3>\n<\/p>\n
\u673a\u68b0\u81c2\u6545\u969c\u53ef\u80fd\u5305\u62ec\u7535\u673a\u8fc7\u8f7d\u3001\u5173\u8282\u5361\u4f4f\u7b49\u3002\u5728\u7f16\u5199\u4ee3\u7801\u65f6\uff0c\u53ef\u4ee5\u901a\u8fc7\u6355\u83b7\u673a\u68b0\u81c2\u8fd4\u56de\u7684\u9519\u8bef\u4fe1\u606f\uff0c\u5e76\u8fdb\u884c\u76f8\u5e94\u7684\u5904\u7406\u3002\u4f8b\u5982\uff1a<\/p>\n<\/p>\n
import serial<\/p>\n
\u914d\u7f6e\u4e32\u53e3\u53c2\u6570<\/strong><\/h2>\n
ser = serial.Serial('\/dev\/ttyUSB0', 115200, timeout=1)<\/p>\n
\u53d1\u9001\u547d\u4ee4<\/strong><\/h2>\n
ser.write(b'G28\\n')  # \u53d1\u9001\u590d\u4f4d\u547d\u4ee4<\/p>\n
\u8bfb\u53d6\u54cd\u5e94<\/strong><\/h2>\n
response = ser.readline()<\/p>\n
response_str = response.decode('utf-8')<\/p>\n
if 'ERROR' in response_str:<\/p>\n
    print('Mechanical arm error:', response_str)<\/p>\n
    # \u6267\u884c\u9519\u8bef\u5904\u7406\u64cd\u4f5c<\/p>\n
    ser.write(b'STOP\\n')  # \u505c\u6b62\u673a\u68b0\u81c2<\/p>\n
\u5173\u95ed\u4e32\u53e3<\/strong><\/h2>\n
ser.close()<\/p>\n
<\/code><\/pre>\n<\/p>\n
\n
\u4e94\u3001\u8c03\u8bd5\u548c\u4f18\u5316<\/strong><\/h2>\n
1\u3001\u8c03\u8bd5\u6280\u672f<\/h2>\n<\/p>\n
\u5728\u7f16\u5199\u548c\u6d4b\u8bd5\u673a\u68b0\u81c2\u63a7\u5236\u4ee3\u7801\u7684\u8fc7\u7a0b\u4e2d\uff0c\u8c03\u8bd5\u662f\u4e00\u4e2a\u91cd\u8981\u7684\u73af\u8282\u3002\u53ef\u4ee5\u4f7f\u7528\u5404\u79cd\u8c03\u8bd5\u6280\u672f\u6765\u53d1\u73b0\u548c\u89e3\u51b3\u95ee\u9898\uff0c\u63d0\u9ad8\u4ee3\u7801\u7684\u8d28\u91cf\u548c\u6027\u80fd\u3002<\/p>\n<\/p>\n
\u6253\u5370\u8c03\u8bd5\u4fe1\u606f<\/h3>\n<\/p>\n
\u6253\u5370\u8c03\u8bd5\u4fe1\u606f\u662f\u6700\u7b80\u5355\u548c\u6700\u5e38\u7528\u7684\u8c03\u8bd5\u6280\u672f\u3002\u53ef\u4ee5\u5728\u4ee3\u7801\u4e2d\u6dfb\u52a0\u6253\u5370\u8bed\u53e5\uff0c\u8f93\u51fa\u53d8\u91cf\u7684\u503c\u548c\u7a0b\u5e8f\u7684\u6267\u884c\u6d41\u7a0b\uff0c\u4ee5\u4fbf\u4e86\u89e3\u7a0b\u5e8f\u7684\u8fd0\u884c\u60c5\u51b5\u3002\u4f8b\u5982\uff1a<\/p>\n<\/p>\n
import serial<\/p>\n
\u914d\u7f6e\u4e32\u53e3\u53c2\u6570<\/strong><\/h2>\n
ser = serial.Serial('\/dev\/ttyUSB0', 115200, timeout=1)<\/p>\n
\u53d1\u9001\u547d\u4ee4<\/strong><\/h2>\n
command = 'G28\\n'<\/p>\n
print('Sending command:', command)<\/p>\n
ser.write(command.encode('utf-8'))<\/p>\n
\u8bfb\u53d6\u54cd\u5e94<\/strong><\/h2>\n
response = ser.readline()<\/p>\n
print('Response:', response.decode('utf-8'))<\/p>\n
\u5173\u95ed\u4e32\u53e3<\/strong><\/h2>\n
ser.close()<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u4f7f\u7528\u8c03\u8bd5\u5668<\/h3>\n<\/p>\n
\u4f7f\u7528\u8c03\u8bd5\u5668\u53ef\u4ee5\u5728\u7a0b\u5e8f\u8fd0\u884c\u65f6\u8bbe\u7f6e\u65ad\u70b9\u3001\u67e5\u770b\u53d8\u91cf\u7684\u503c\u548c\u6267\u884c\u5355\u6b65\u8c03\u8bd5\u3002\u5e38\u89c1\u7684\u8c03\u8bd5\u5668\u5305\u62ecPDB\uff08Python Debugger\uff09\u548c\u96c6\u6210\u5f00\u53d1\u73af\u5883\uff08\u5982PyCharm\uff09\u7684\u8c03\u8bd5\u5668<\/p>\n<\/p>\n
\u76f8\u5173\u95ee\u7b54FAQs\uff1a<\/strong><\/h2>\n
 \u4f7f\u7528Python\u63a7\u5236\u673a\u68b0\u81c2\u9700\u8981\u54ea\u4e9b\u57fa\u672c\u77e5\u8bc6\uff1f<\/strong>
\u5728\u5f00\u59cb\u4f7f\u7528Python\u63a7\u5236\u673a\u68b0\u81c2\u4e4b\u524d\uff0c\u4e86\u89e3\u4e00\u4e9b\u57fa\u672c\u77e5\u8bc6\u662f\u975e\u5e38\u91cd\u8981\u7684\u3002\u60a8\u9700\u8981\u719f\u6089Python\u7f16\u7a0b\u8bed\u8a00\uff0c\u5305\u62ec\u57fa\u672c\u7684\u8bed\u6cd5\u548c\u6570\u636e\u7ed3\u6784\u3002\u6b64\u5916\uff0c\u4e86\u89e3\u673a\u68b0\u81c2\u7684\u8fd0\u52a8\u5b66\u548c\u52a8\u529b\u5b66\u539f\u7406\u4e5f\u6709\u52a9\u4e8e\u60a8\u66f4\u597d\u5730\u63a7\u5236\u673a\u68b0\u81c2\u7684\u52a8\u4f5c\u3002\u5efa\u8bae\u60a8\u5b66\u4e60\u76f8\u5173\u7684\u5e93\uff0c\u5982pySerial<\/code>\u7528\u4e8e\u4e32\u53e3\u901a\u4fe1\uff0cnumpy<\/code>\u7528\u4e8e\u6570\u503c\u8ba1\u7b97\uff0c\u4ee5\u53camatplotlib<\/code>\u7528\u4e8e\u53ef\u89c6\u5316\u3002<\/p>\n
\u5982\u4f55\u9009\u62e9\u5408\u9002\u7684\u673a\u68b0\u81c2\u8fdb\u884cPython\u7f16\u7a0b\uff1f<\/strong>
\u9009\u62e9\u9002\u5408\u7684\u673a\u68b0\u81c2\u4e0e\u60a8\u7684\u9879\u76ee\u9700\u6c42\u5bc6\u5207\u76f8\u5173\u3002\u60a8\u5e94\u8003\u8651\u673a\u68b0\u81c2\u7684\u8d1f\u8f7d\u80fd\u529b\u3001\u81ea\u7531\u5ea6\u3001\u63a7\u5236\u7cbe\u5ea6\u4ee5\u53ca\u662f\u5426\u652f\u6301Python\u7f16\u7a0b\u3002\u8bb8\u591a\u5f00\u6e90\u548c\u5546\u4e1a\u673a\u68b0\u81c2\u90fd\u53ef\u4ee5\u4e0ePython\u517c\u5bb9\uff0c\u4f8b\u5982UR\u7cfb\u5217\u673a\u68b0\u81c2\u3001Arduino\u63a7\u5236\u7684\u673a\u68b0\u81c2\u7b49\u3002\u5728\u9009\u62e9\u65f6\uff0c\u8bf7\u67e5\u9605\u76f8\u5173\u6587\u6863\uff0c\u786e\u4fdd\u5176\u652f\u6301Python\u5e93\u6216API\uff0c\u4ee5\u4fbf\u4e8e\u5f00\u53d1\u3002<\/p>\n
\u5728Python\u4e2d\u5982\u4f55\u5b9e\u73b0\u673a\u68b0\u81c2\u7684\u8fd0\u52a8\u63a7\u5236\uff1f<\/strong>
\u5728Python\u4e2d\u5b9e\u73b0\u673a\u68b0\u81c2\u8fd0\u52a8\u63a7\u5236\u901a\u5e38\u9700\u8981\u901a\u8fc7\u7279\u5b9a\u7684\u5e93\u6216API\u6765\u53d1\u9001\u6307\u4ee4\u3002\u60a8\u53ef\u4ee5\u4f7f\u7528ROS\uff08Robot Operating System\uff09\u6765\u7ba1\u7406\u548c\u63a7\u5236\u673a\u68b0\u81c2\uff0c\u6216\u8005\u4f7f\u7528\u4e13\u95e8\u7684\u5e93\u5982pyRobot<\/code>\u3002\u5728\u7f16\u5199\u4ee3\u7801\u65f6\uff0c\u9700\u8981\u5b9a\u4e49\u8fd0\u52a8\u8def\u5f84\u3001\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u7b49\u53c2\u6570\uff0c\u786e\u4fdd\u673a\u68b0\u81c2\u80fd\u591f\u5e73\u7a33\u5730\u6267\u884c\u4efb\u52a1\u3002\u901a\u8fc7\u4e32\u53e3\u6216\u7f51\u7edc\u4e0e\u673a\u68b0\u81c2\u8fdb\u884c\u901a\u4fe1\uff0c\u53d1\u9001\u63a7\u5236\u547d\u4ee4\u4ee5\u5b9e\u73b0\u9884\u671f\u7684\u52a8\u4f5c\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"\u8981\u7528Python\u63a7\u5236\u673a\u68b0\u81c2\uff0c\u9996\u5148\u9700\u8981\u4e86\u89e3\u4ee5\u4e0b\u51e0\u4e2a\u6838\u5fc3\u6b65\u9aa4\uff1a\u9009\u62e9\u5408\u9002\u7684\u673a\u68b0\u81c2\u3001\u5b89\u88c5\u76f8\u5173\u7684\u8f6f\u4ef6\u5305\u3001\u8fde\u63a5\u673a\u68b0\u81c2\u3001\u7f16\u5199 […]","protected":false},"author":3,"featured_media":1170355,"comment_status":"closed","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[37],"tags":[],"acf":[],"_links":{"self":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts\/1170349"}],"collection":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/comments?post=1170349"}],"version-history":[{"count":"1","href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts\/1170349\/revisions"}],"predecessor-version":[{"id":1170356,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts\/1170349\/revisions\/1170356"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/media\/1170355"}],"wp:attachment":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/media?parent=1170349"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/categories?post=1170349"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/tags?post=1170349"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}