基于socket操作ABB机器人

这里我用Java语言搭了一个socket客户端，在这个客户端中可以输入1,2,3,4,5,6操控六个轴指令通过socket发送到abb机器人，继续解析指令从而操控每个轴的角度。

java客户端实现

public class SimpleServer {  
    public static void main(String[] args) {  
        int port = 8080; // 设置服务器端口
        Scanner scanner = new Scanner(System.in);
        try (ServerSocket serverSocket = new ServerSocket(port)) {  
            System.out.println("服务器已启动，等待连接...");  

            // 循环等待客户端连接  
            while (true) {
                Socket socket = serverSocket.accept(); // 阻塞直到有客户端连接  
                System.out.println("客户端已连接，IP地址：" + socket.getInetAddress().getHostAddress());
                int i = scanner.nextInt();
                int rax_1 = 0;
                int rax_2 = 0;
                int rax_3 = 0;
                int rax_4 = 0;
                int rax_5 = 0;
                int rax_6 = 0;
                switch (i) {
                    case 1:
                        rax_1+=45;break;
                    case 2:
                        rax_2+=45;break;
                    case 3:
                        rax_3+=45;break;
                    case 4:
                        rax_4+=45;break;
                    case 5:
                        rax_5+=45;break;
                    case 6:
                        rax_6+=45;break;
                }
                //将rax_1,rax_2,rax_3,rax_4,rax_5,rax_6赋值给转化为三位数的值并带上正负号
                String rax1 = formatRAXValue(rax_1);
                String rax2 = formatRAXValue(rax_2);
                String rax3 = formatRAXValue(rax_3);
                String rax4 = formatRAXValue(rax_4);
                String rax5 = formatRAXValue(rax_5);
                String rax6 = formatRAXValue(rax_6);
                //socket发送形如MoveAbsJ/+000/+000/+000/+000/+090/+000/
                // 获取输出流，用于向服务器发送数据
                OutputStream outputStream = socket.getOutputStream();

                // 构建命令字符串
                String command = "MoveAbsJ/"+rax1+"/"+rax2+"/"+rax3+"/"+rax4+"/"+rax5+"/"+rax6+"/";
                // 发送命令到服务器
                outputStream.write(command.getBytes());
                outputStream.flush(); // 刷新输出缓冲区确保数据被发送

                System.out.println("Command sent: " + command);

                // 处理客户端的请求  
                BufferedReader reader = new BufferedReader(new InputStreamReader(socket.getInputStream()));  
                String line;  
                while ((line = reader.readLine()) != null) {  
                    System.out.println("收到客户端消息: " + line);  
                }  

                // 注意：这里简单地关闭了连接而没有发送响应。在实际应用中，你可能需要发送一个响应并优雅地关闭连接。  
                socket.close();  
            }  
  
        } catch (IOException e) {  
            e.printStackTrace();  
        }  
    }
    public static String formatRAXValue(int value) {
        String sign = value >= 0 ? "+" : "-";
        String absValueStr = String.format("%03d", Math.abs(value));
        return sign + absValueStr;
    }
}

ABB机器人端代码

总体来说就是开启socket等待连接之后将指令解析为机械臂运动参数

MODULE Module1  
    VAR string rax_mode:="";
    VAR string rax_sum_num:="";
    VAR string rax_numBer{6}:=[" "," "," "," "," "," "];
    VAR num r{6}:=[0,0,0,0,0,0];
    VAR bool judge;
    VAR jointtarget p10:=[[0,0,0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    VAR socketdev socket1;
    VAR string rax_sum:="";
    PROC main()  
        WHILE TRUE DO
            rIni;
            rRun;
        ENDWHILE
    ENDPROC  
  PROC rIni()
    VAR num n;
    !TPErase;
    SocketClose socket1;
    WaitTime 0.3;
    SocketCreate socket1;
    SocketConnect socket1,"127.0.0.1",8080;
    SocketSend socket1\Str:="hello PC";
    SocketReceive socket1\Str:=rax_sum\Time:=WAIT_MAX;
    rax_mode:=StrPart(rax_sum,1,8);
    rax_sum_num:=StrPart(rax_sum,9,StrLen(rax_sum)-8);
    TPWrite rax_mode;
    TPWrite rax_sum_num;
    FOR i FROM 1 TO 6 DO
        rax_numBer{i}:=StrPart(rax_sum_num,2+n,4);
        r{i}:=StrToNum(rax_numBer{i});
        add n,5;
        TPWrite rax_numBer{i};
    ENDFOR
  ENDPROC
  PROC rRun()
    IF rax_mode="MoveAbsJ" THEN
        p10.robax.rax_1:=r{1};
        p10.robax.rax_2:=r{2};
        p10.robax.rax_3:=r{3};
        p10.robax.rax_4:=r{4};
        p10.robax.rax_5:=r{5};
        p10.robax.rax_6:=r{6};
        MoveAbsJ p10\NoEOffs, v100,fine,tool0;
    ENDIF
  ENDPROC
  FUNC num StrToNum(string str)
      VAR num rax_numBer:=0;
      judge:=strToVal(str,rax_number);
      IF judge=true THEN
          RETURN rax_numBer;
      ELSEIF judge=FALSE THEN
        TPWrite "string erro";
      ENDIF
  ENDFUNC
ENDMODULE