{"id":28437848,"url":"https://github.com/enpeizhao/episode_robot","last_synced_at":"2026-04-17T08:05:54.883Z","repository":{"id":278499118,"uuid":"935823330","full_name":"enpeizhao/episode_robot","owner":"enpeizhao","description":"6轴机械臂 6 degrees robot 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本项目是我为课程[《大模型视觉抓取6轴机械臂》](https://enpeicv.com/forum.php?mod=forumdisplay\u0026fid=56) 设计的6轴机械臂。\n\u003e\n\u003e 主要目标是尽量用市面上的标准件制作一个性能优秀，价格优惠的教学用途机械臂（2000元以内）。\n\u003e\n\u003e If you have any questions, please submit issues or email me: enpeicv@outlook.com, have fun with it!\n\u003e\n\u003e 扫码加入微信WeChat交流群：\n\u003e\n\u003e \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202404161532376.png?x-oss-process=style/wp\" style=\"width:200px;\" /\u003e\n\n\n\n![](https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502201233199.png?x-oss-process=style/wp)\n\n## 一、Episode 1机械臂参数：\n\n**名称**：Episode 1（意为第一代，可能根据学员需求，后续升级迭代）\n\n**本体**：主要传动机构为铝合金和45号钢CNC加工零件，外壳为PLA 3D打印件。6自由度，6个42步进电机，4个高精度行星减速器，FOC闭环驱动板，CAN总线通信，负载500g，活动半径510mm，高重复精度。\n\n**夹爪**：负压真空夹爪，25KG 舵机2指柔性夹爪。\n**软件**：ROBODK上位机，正逆解算，拖拽示教，TCP 协议API编程，3D、6D抓取网络，多模态VLM、LLM等。\n\n**SDK API**：TCP协议的API，支持各种编程语言，API有角度移动模式（MoveJ）、坐标位置模式、欧拉角模式、直线运动模式（MoveL）。\n\n**应用**：已实现手眼标定（眼在手上、眼在手外）、3D、6D抓取等。\n\n\u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111259136.png?x-oss-process=style/wp\" style=\"zoom: 25%;\" /\u003e\n\n**视频演示**：[B站点击播放](https://www.bilibili.com/video/BV1KJwNepESk/?spm_id_from=333.1387.0.0\u0026vd_source=39b1662212679b11469d17d3bee8df4e)\n\n[\u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502201231788.png?x-oss-process=style/wp\" alt=\"示例图片\" style=\"zoom:25%;\" /\u003e](https://www.bilibili.com/video/BV1KJwNepESk/?spm_id_from=333.1387.0.0\u0026vd_source=39b1662212679b11469d17d3bee8df4e)\n\n## 二、原理图：\n\n**整体：**\n\n![](https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502201141412.png?x-oss-process=style/wp)\n\n**电机驱动：**\n\n\u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502141158971.png?x-oss-process=style/wp\" style=\"zoom:50%;\" /\u003e\n\n**夹爪：**\n\n\n\n## 三、物料表\n\n| 零件编号 | 图示                                                         | 名称             | 类型     | 1成品实际数量 | 作用                                 |\n| -------- | ------------------------------------------------------------ | ---------------- | -------- | ------------- | ------------------------------------ |\n| 10003    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111626570.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 小轴承支撑       | 3D打印   | 1             | 支撑两个轴承                         |\n| 10009    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111627635.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J2腰关节         | 3D打印   | 1             | 腰关节                               |\n| 10010    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111630060.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J6腕部           | 3D打印   | 1             | 腕部                                 |\n| 10013    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111633629.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 磁铁组装辅助     | 3D打印   | 1             | 用来安装电机后的磁铁                 |\n| 10016    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111633673.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 法兰组装辅助     | 3D打印   | 1             | 用于辅助安装法兰螺丝                 |\n| 10017    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111634111.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J1底座闸门       | 3D打印   | 1             | 底座闸门，用于固定各种插座           |\n| 10019    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111634980.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J5盖子皮带面     | 3D打印   | 1             | 盖子                                 |\n| 10020    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111634051.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J5盖子接线面     | 3D打印   | 1             | 盖子                                 |\n| 10021    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111637749.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J5小臂旋转       | 3D打印   | 1             | 小臂旋转                             |\n| 10024    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111637093.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J4盖子           | 3D打印   | 1             | 小臂固定盖子                         |\n| 10025    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111637514.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J4小臂固定       | 3D打印   | 1             | 小臂固定                             |\n| 10028    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111638353.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J3大臂           | 3D打印   | 1             | 大臂                                 |\n| 10031    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111638566.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J1固定底座       | 3D打印   | 1             | 固定底座                             |\n| 10033    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111642863.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J5 60齿同步轮    | 3D打印   | 1             | 同步带轮                             |\n| 10043    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111642926.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J5轴承盖子       | 3D打印   | 1             | 轴承盖子                             |\n| 10044    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111642661.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J6端侧安装面     | 3D打印   | 1             | 机械臂末端，用来安装各种工具、执行器 |\n| 10045    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111642666.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J6盖子           | 3D打印   | 1             | 腕部盖子                             |\n| 10046    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111642559.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J5电机拉紧板     | 3D打印   | 1             | 用来拉紧同步带                       |\n| 10002    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111642607.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 键槽法兰         | CNC加工  | 3             | 用于传递扭矩                         |\n| 10007    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111645363.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 腰关节铝片正面   | CNC加工  | 1             | 用来固定电机                         |\n| 10008    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111645203.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 腰关节铝片背面   | CNC加工  | 1             | 用来固定电机                         |\n| 10022    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111645506.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 小臂铝片正面     | CNC加工  | 1             | 用来固定电机                         |\n| 10023    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111645649.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 小臂铝片背面     | CNC加工  | 1             | 用来固定电机                         |\n| 10027    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111645259.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 大臂铝板         | CNC加工  | 1             | 支撑大臂，连接电机、法兰             |\n| 10001    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111713604.png?x-oss-process=style/wp\" style=\"zoom: 25%;\" /\u003e | 电机驱动         | 采购     | 6             | 电机驱动，这里用的是张大头家CAN套餐  |\n| 10004    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111751746.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 小轴承           | 采购     | 4             | 轴承                                 |\n| 10005    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111716589.png?x-oss-process=style/wp\" style=\"zoom: 25%;\" /\u003e | 自攻螺钉M2×8     | 采购     | 20            | 用于紧固盖子                         |\n| 10006    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111717779.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | 自攻螺丝M6×16    | 采购     | 4             | 用于紧固固定底座，比如固定在木板上   |\n| 10011    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111715391.png?x-oss-process=style/wp\" style=\"zoom: 15%;\" /\u003e | 胶水             | 采购     | 1             | 用于将磁铁站在电机轴上               |\n| 10012    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111718468.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 联轴器           | 采购     | 1             | 联轴器                               |\n| 10014    | /                                                            | 电子线-绿蓝      | 采购     | 0.35m         | CAN信号线                            |\n| 10015    | /                                                            | 电子线-红黑      | 采购     | 0.35m         | 电源正负线                           |\n| 10018    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111719616.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 带灯按钮开关     | 采购     | 1             | 开关                                 |\n| 10026    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111721509.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 倒边螺母M3x8     | 采购     | 12            | 连接腕部与轴承                       |\n| 10029    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111731245.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 导向轴支座       | 采购     | 1             | 连接末端与电机输出轴                 |\n| 10030    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111732724.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 固定环           | 采购     | 1             | 连接小臂旋转与电机输出轴             |\n| 10032    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111732584.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 回转支承         | 采购     | 1             | 固定底座与腰部连接部件               |\n| 10034    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111731503.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 同步带           | 采购     | 1             | 同步带                               |\n| 10035    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111733296.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | 光轴6x30         | 采购     | 1             | 配合联轴器，扩展轴长度               |\n| 10036    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111733853.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | USB2CAN转换器    | 采购     | 1             | 插在电脑控制机械臂                   |\n| 10038    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111735110.png?x-oss-process=style/wp\" style=\"zoom: 15%;\" /\u003e | 电机L60/20:1     | 采购     | 1             | 第2个关节电机、减速器                |\n| 10039    | 类似10038                                                    | 电机L48/25:1     | 采购     | 1             | 第1个关节电机、减速器                |\n| 10040    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502141248325.png?x-oss-process=style/resize\" style=\"zoom: 33%;\" /\u003e | 电机L40          | 采购     | 2             | 第5、6个关节电机                     |\n| 10041    | 类似10038                                                    | 电机L34/25:1     | 采购     | 1             | 第3个关节电机、减速器                |\n| 10042    | 类似10038                                                    | 电机L34/10:1     | 采购     | 1             | 第4个关节电机、减速器                |\n| 10047    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111736145.png?x-oss-process=style/wp\" style=\"zoom:33%;\" /\u003e | J5 15齿同步轮    | 采购     | 1             | 同步带轮，连接电机与同步带           |\n| 10048    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111736025.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | 紧定螺钉M6×10    | 采购     | 4             | 紧定键槽法兰与电机输出轴             |\n| 10049    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111737219.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | 螺钉M8×25        | 采购     | 15            | 螺钉                                 |\n| 10050    | /                                                            | 螺钉M6×16        | 采购     | 4             | 螺钉                                 |\n| 10051    | /                                                            | 螺钉M5×50        | 采购     | 2             | 螺钉                                 |\n| 10052    | /                                                            | 螺钉M5×25        | 采购     | 2             | 螺钉                                 |\n| 10053    | /                                                            | 螺钉M5×16        | 采购     | 9             | 螺钉                                 |\n| 10054    | /                                                            | 螺钉M4×10        | 采购     | 13            | 螺钉                                 |\n| 10055    | /                                                            | 螺钉M3×8         | 采购     | 6             | 螺钉                                 |\n| 10056    | /                                                            | 螺钉M3×60        | 采购     | 8             | 螺钉                                 |\n| 10057    | /                                                            | 螺钉M3×5         | 采购     | 6             | 螺钉                                 |\n| 10058    | /                                                            | 螺钉M3×40        | 采购     | 20            | 螺钉                                 |\n| 10059    | /                                                            | 螺钉M3×35        | 采购     | 8             | 螺钉                                 |\n| 10060    | /                                                            | 螺钉M3×20        | 采购     | 2             | 螺钉                                 |\n| 10061    | /                                                            | 螺钉M3×16        | 采购     | 8             | 螺钉                                 |\n| 10062    | /                                                            | 螺钉M3×10        | 采购     | 12            | 螺钉                                 |\n| 10064    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111738117.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | 螺母M5           | 采购     | 14            | 螺母                                 |\n| 10065    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111738856.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | 螺母M3           | 采购     | 19            | 螺母                                 |\n| 10066    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111739626.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | DC 12V 插座      | 采购     | 1             | 12V适配器电源插座                    |\n| 10067    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111751961.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | 4P排插           | 采购     | 1             | 为夹爪控制盒预留信号线和电源线       |\n| 10068    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111739308.png?x-oss-process=style/wp\" style=\"zoom:15%;\" /\u003e | 3x3x14键         | 采购     | 4             | 插入键槽法兰                         |\n| 10069    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111740591.png?x-oss-process=style/wp\" style=\"zoom:15%;\" /\u003e | 3x7x6 垫片       | 采购     | 6             | J1电机螺母与驱动之间                 |\n| 10070    | /                                                            | 3x7x2 垫片       | 采购     | 40            | 垫片                                 |\n| 10071    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111741088.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | 2芯软线          | 采购     | 1.5m          | 连接USB2CAN转接头与2P排插            |\n| 10072    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111741390.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | 2P排插           | 采购     | 1             | 连接2芯软线                          |\n| 10073    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111742192.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | 12V电源          | 采购     | 1             | 12V电源适配器                        |\n| 10074    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111743050.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | 3MM扳手          | 采购     | 1             | 紧固 键槽法兰的紧定螺钉              |\n| 10075    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111744758.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | 2.5MM扳手        | 采购     | 1             | 紧固小臂旋转                         |\n| 10076    | /                                                            | 1.5MM扳手        | 采购     | 1             | 紧固末端导向轴支座                   |\n| 10077    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111745667.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | 磁铁             | 采购     | 6             | 安装在电机末端，用于驱动器测量角度   |\n| 10078    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502111746082.png?x-oss-process=style/wp\" style=\"zoom:25%;\" /\u003e | 镊子             | 采购     | 1             | 用于夹取部分零件                     |\n| 10079    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502151814983.png?x-oss-process=style/wp\" style=\"zoom: 25%;\" /\u003e | 驱动-8P通讯线    | 驱动配套 | 6             | 驱动配套                             |\n| 10080    | 同上                                                         | 驱动-4P电机线    | 驱动配套 | 6             | 驱动配套                             |\n| 10081    | 同上                                                         | 驱动-注塑外壳    | 驱动配套 | 6             | 驱动配套                             |\n| 10082    | 同上                                                         | 驱动-CAN模块     | 驱动配套 | 6             | 驱动配套                             |\n| 10083    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502151817124.png?x-oss-process=style/resize\" style=\"zoom:25%;\" /\u003e | 热缩管           | 采购     | 0.6m          | 接电子线用                           |\n| 10084    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502151816471.png?x-oss-process=style/resize\" style=\"zoom: 25%;\" /\u003e | 包线管           | 采购     | 0.6m          | 包裹电子线                           |\n| 10085    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502151822805.png?x-oss-process=style/resize\" style=\"zoom: 25%;\" /\u003e | 4P连接线对插     | 采购     | 1             | 接电子线用                           |\n| 10086    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502151820067.png?x-oss-process=style/resize\" style=\"zoom:25%;\" /\u003e | 长款电机配套4P线 | 采购     | 1             | 接电子线用                           |\n| 10087    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502151823957.png?x-oss-process=style/resize\" style=\"zoom:25%;\" /\u003e | 快速接线端子     | 采购     | 4             | 接电子线用                           |\n| 10088    | \u003cimg src=\"https://enpei-md.oss-cn-hangzhou.aliyuncs.com/202502191650155.png?x-oss-process=style/wp\" style=\"zoom:15%;\" /\u003e | 3*7*1金属垫片    | 采购     | 6             | 垫片                                 |\n\n\n\n## 四、API简介\n\n**链接机械臂**：`0.server.py`\n\n示例代码：\n\n```python\n# 导入控制API\nfrom episode_controller.episodeServer import MotorControlServer\n......\n# 配置服务器\nparser = argparse.ArgumentParser(description=\"Motor Control Server\")\n# resume：是否在上次姿态恢复\nparser.add_argument(\"--resume\", type=bool, default=False, help=\"Resume previous session\")\n# usb_id：USB地址，最高支持6个机械臂同时驱动\nparser.add_argument(\"--usb_id\", type=int, default=1, help=\"USB handler ID, use pcaninfo to check\")\n# TCP协议IP地址\nparser.add_argument(\"--ip\", type=str, default=\"localhost\", help=\"Server IP address\")\n# 端口\nparser.add_argument(\"--port\", type=int, default=12345, help=\"Server port\")\n\n# 启动TCP协议API服务器\nserver = MotorControlServer(resume=args.resume, usb_id=args.usb_id)\nserver.start_server(host=args.ip, port=args.port)\n```\n\n这样启动后，便可以使用支持TCP协议的编程语言去连接操作机械臂。\n\n\n\n**API列表**：`episodeServer.py`\n\n* home: 执行电机回零校准，将机械臂移动到初始位置\n* gripper: 控制夹爪动作，根据参数决定抓取（闭合）或释放（打开）\n* servo_gripper: 发送舵机抓取命令，设置夹爪角度\n* robodk_simulation: 启动或关闭Robodk模拟功能\n* set_free_mode: 设置电机自由模式，允许手动或自由控制电机\n* get_motor_angles: 获取当前各电机的角度信息\n* angle_mode: 通过角度模式直接控制各电机运动\n* move_xyz_rotation: 使用逆运动学移动到指定XYZ位置\n* move_linear_xyz_rotation: 沿直线路径移动到目标位置\n\n```python\ndef home(self):\n    \"\"\"\n    执行电机回零校准，将机械臂移动到初始位置。\n\n    返回:\n    - 归位操作所需的时间（秒）。\n    \"\"\"\n    command = {'action': 'home', 'params': None}\n    result = self.send_command(command)\n    if result is not None:\n        print(\"正在归位，预计耗时 {} 秒\".format(result))\n        time.sleep(result)\n    return result\n\ndef gripper(self, on=0):\n    \"\"\"\n    控制夹爪的抓取和释放。\n\n    参数:\n    - on: 大于0表示抓取（闭合），否则表示释放（打开）。\n\n    返回:\n    - 机械臂响应的结果。\n    \"\"\"\n    action_str = \"gripper_on\" if on \u003e 0 else \"gripper_off\"\n    command = {'action': action_str, 'params': None}\n    result = self.send_command(command)\n    time.sleep(0.05)\n    return result\n\ndef servo_gripper(self, degree):\n    \"\"\"\n    控制舵机夹爪动作，设置指定角度。\n\n    参数:\n    - degree: 舵机的目标角度（单位：度）。\n\n    返回:\n    - 机械臂响应的结果。\n    \"\"\"\n    command = {'action': 'servo_gripper', 'params': degree}\n    result = self.send_command(command)\n    time.sleep(1)  # 等待动作完成\n    return result\n\ndef robodk_simulation(self, enable):\n    \"\"\"\n    启动或关闭Robodk模拟功能。\n\n    参数:\n    - enable: 布尔值，True表示启用模拟，False表示禁用。\n\n    返回:\n    - 机械臂响应的结果。\n    \"\"\"\n    params = 1 if enable else 0\n    command = {'action': 'robodk_simu', 'params': params}\n    result = self.send_command(command)\n    time.sleep(0.05)\n    return result\n\ndef set_free_mode(self, mode):\n    \"\"\"\n    设置电机自由模式，允许手动或自由控制电机，用来示教模式。\n\n    参数:\n    - mode: 自由模式参数，根据具体需求设定。\n\n    返回:\n    - 机械臂响应的结果。\n    \"\"\"\n    command = {'action': 'set_free_mode', 'params': mode}\n    result = self.send_command(command)\n    return result\n\ndef get_motor_angles(self):\n    \"\"\"\n    获取当前各电机编码器的角度值。\n\n    返回:\n    - 电机角度列表，如果获取失败则返回None。\n    \"\"\"\n    command = {'action': 'get_motor_angles', 'params': None}\n    result = self.send_command(command)\n    return result\n\ndef angle_mode(self, angles, speed_ratio=1.0):\n    \"\"\"\n    角度模式运动：根据指定角度直接控制各电机的运动。\n\n    参数:\n    - angles: 电机角度列表，顺序与实际电机对应。\n    - speed_ratio: 运动速度比例，默认1.0。\n\n    返回:\n    - 机械臂响应的结果。\n    \"\"\"\n    command = {'action': 'angle_mode', 'params': (angles, speed_ratio)}\n    result = self.send_command(command)\n    return result\n\ndef move_xyz_rotation(self, x, y, z, rotation_angles=[90, 0, 180], order='zyx'):\n    \"\"\"\n    使用逆运动学控制机械臂运动到指定的XYZ位置，并设置目标姿态。\n\n    参数:\n    - x, y, z: 目标位置坐标（单位：毫米或其他，根据实际设定）。\n    - rotation_angles: 目标姿态角度列表（默认为 [90, 0, 180]）。\n    - order: 旋转顺序（如'zyx'），确保与控制端一致。\n\n    返回:\n    - 如果有解，返回运动执行时间（秒），否则返回 -1 表示无解。\n    \"\"\"\n    params = [x, y, z] + rotation_angles + [order]\n    command = {'action': 'move_xyz_rotation', 'params': params}\n    result = self.send_command(command)\n    if result != -1 and result is not None:\n        print(\"运动中，预计耗时 {} 秒\".format(result))\n        time.sleep(result)\n    else:\n        print(\"目标位置或姿态无解\")\n    return result\n\ndef move_linear_xyz_rotation(self, x, y, z, rotation_angles=[90, 0, 180], order='zyx'):\n    \"\"\"\n    直线模式运动：沿直线路径运动到指定位置，并同时调整末端姿态。\n\n    参数:\n    - x, y, z: 目标位置坐标。\n    - rotation_angles: 目标姿态角度列表。\n    - order: 旋转顺序（默认为 'zyx'）。\n\n    返回:\n    - 如果运动规划成功，返回运动总时间（秒）；否则返回 -1 表示无解。\n    \"\"\"\n    params = [x, y, z] + rotation_angles + [order]\n    command = {'action': 'move_linear_xyz_rotation', 'params': params}\n    result = self.send_command(command)\n    if result != -1 and result is not None:\n        print(\"直线运动规划成功，总共需要 {} 秒\".format(result))\n        time.sleep(result)\n    else:\n        print(\"直线运动规划失败：目标无解\")\n    return result\n```\n\n\n\n## 五、应用代码\n\n### 5.1 示教模式\n\n\u003e 操作其中一台机械臂，另外一台跟着运动。\n\n代码：`3.teach_mode.py`\n\n### 5.2 3D抓取\n\n\u003e 眼在手外深度相机辅助3D平面抓取（末端欧拉角固定）\n\n代码：`2.air_sucker.py`\n\n### 5.3 6D抓取\n\n\u003e 眼在手上深度相机辅助3D平面抓取（末端欧拉角不固定）\n\n代码：`1.demo_episode_with_gripper.py`\n\n### 5.3 结合VLM、LLM\n\n\u003e 结合大语言模型、多模态模型\n\n代码：\n\n* `2.demo_VLM_grasp.py`\n* `3.demo_VLM_handler.py`","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fenpeizhao%2Fepisode_robot","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fenpeizhao%2Fepisode_robot","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fenpeizhao%2Fepisode_robot/lists"}