kinova jaco2 控制机械臂动作

c++  kinova jaco2  控制机械臂动作

void RobotThread::initPoint1()
{
    pointToSend.Position.Type = ANGULAR_VELOCITY;

    pointToSend.Position.Actuators.Actuator1 = 8;
    pointToSend.Position.Actuators.Actuator2 = 4;
    pointToSend.Position.Actuators.Actuator3 = 9;
    pointToSend.Position.Actuators.Actuator4 = 6;
    pointToSend.Position.Actuators.Actuator5 = 2;
    pointToSend.Position.Actuators.Actuator6 = 28; 

    pointToSend.Position.Fingers.Finger1 = 0;
    pointToSend.Position.Fingers.Finger2 = 0;
    pointToSend.Position.Fingers.Finger3 = 0;
}

int(*VCSendBasicTrajectory)(TrajectoryPoint command);

VCSendBasicTrajectory = (int(*)(TrajectoryPoint)) GetProcAddress(commandLayer_handle, "SendBasicTrajectory");

 

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