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posx()

정의

posx(x=0, y=0, z=0, A=0, B=0, C=0, ori_type=None, sol=None, turn=None)

기능

작업 공간을 좌표값으로 지정합니다.

알아두기

  • SW 버전 V3.2 부터, 다양한 Orientation type 입력을 지원합니다.

인수

인수명

자료형

기본값

설명

x

float

list

posx

0

x position 또는

position list 또는

posx

y

float

0

y position

z

float

0

z position

A

float

0

A orientation

B

float

0

B orientation

C

float

0

C orientation

ori_type

int

None

orientation type

  • DR_ELR_ZYZ(if None): Euler Angles(z-y'-z'', in degrees)

  • DR_ELR_ZYX: Euler Angles(z-y'-x'', in degrees)

  • DR_ELR_XYZ: Euler Angles(x-y'-z'', in degrees)

  • DR_FIX_XYZ: Fixed Angles(x-y-z, in degrees)

  • DR_ROTVEC: 3D rotation vector (angle/axis representation, in degrees)

  • DR_QUAT: unit quaternion(x, y, z, w)

sol

int

None

solution space

  • None: robot configuration 자동 선택 - 추후 지원 예정

  • 0~7: robot configuration 지정 (ikin_norm 함수 참조)

turn

int

None

joint multi turn - 추후 지원 예정

  • None: joint multi turn 자동 선택

리턴

값

설명

posx

task space point

예외

예외

설명

DR_Error (DR_ERROR_TYPE)

인수들의 데이터형 오류 시

예제 

Python
movej([0,0,90,0,90,0], v=10, a=20)

x2 = posx(400, 300, 500, 0, 180, 0)			# Euler ZYZ

x3 = posx([350, 350, 450, 0, 180, 0])       # x3=posx(350, 350, 450, 0, 180, 0), Euler ZYZ

x4 = posx(x2)                                  # x4=posx(400, 300, 500, 0, 180, 0), Euler ZYZ

x5 = posx(400, 300, 500, 0, 180, 0, DR_ELR_ZYX) # Euler ZYX

x6 = posx([400, 300, 500, 0, 0, 0, 1], ori_type=DR_QUAT) # Quaternion, only list input available

x6.ori_type = DR_ROTVEC							# Transform to rot vec (setter method)

x7 = posx(x6, ori_type=DR_FIX_XYZ)				# Constructor as the other orientation type

movel(x2, v=100, a=200)

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