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大族机器人驱动的 rust 实现

大族机器人的控制柜指令集为复杂指令集，指令形式较为多样，而其中部分指令并不常用，故在本驱动实现中只实现了常用指令的封装，不常用指令

指令

大族机器人的指令主要分为以下几类

  • 初始化指令
  • 轴组控制指令
  • 脚本控制指令
  • 电箱控制指令
  • 状态读取与设置指令
  • 位置、速度、电流读取指令
  • 坐标转换计算指令
  • 工具坐标与用户坐标读取指令
  • 力控控制指令
  • 通用运动类控制指令
  • 连续轨迹运动类控制指令
  • Servo 运动类控制指令
  • 相对跟踪运动类控制指令
  • 其他指令

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0.1.8

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