我的学校有一个UR10协作机器人，我正在尝试对其进行编程，因此在按住数字输入时手臂会向左移动，但是当我多次执行此操作或在告诉手臂进行以下操作后尝试执行其他任务我得到一个运行时错误。
我对python线程还比较陌生，我认为这可能是我的问题，但我不确定。这是我的代码。
import URBasic
from threading import Event, Thread
class UR10(object):
def __init__(self):
#logging.basicConfig(level=logging.INFO)
# robot = urx.Robot("localhost")
# Establishes connection to UR-10 via IP address
# print("establishing connection")
# Robot = urx.Robot("IP ADDRESS FOR UR10")
host = '192.168.100.82'
print("Robot object is available as robot or r")
self.acc = .9
self.vel = .9
self.RobotModel = URBasic.robotModel.RobotModel()
self.r = URBasic.urScriptExt.UrScriptExt(host=host, robotModel=self.RobotModel)
self.r.reset_error()
self.DigInputsDefault = False
self.PreviousBtn_Value = 0
self.ButtonVal = 0
self.CurrentBtn_Val = 0
self.Start = True
self.Send_Stop = False
print("move")
#self.r.movel(pose=[-0.0244, -0.6092, 0.4377, -0.2924, 2.2109, -2.1756], a=.05, v=self.vel)
pose = [-0.0244, -0.6092, 0.4377, -0.2924, 2.2109, -2.1756]
self.r.movel(pose, a=.05, v=self.vel)
CheckingDigital_Inputs = Thread(target=self.ThreadChecker)
CheckingDigital_Inputs.setDaemon(True)
CheckingDigital_Inputs.start()
MoveThread = Thread(target = self.MoveThread)
MoveThread.setDaemon(True)
MoveThread.start()
MoveStopThread = Thread(target = self.StopMove)
MoveStopThread.setDaemon(True)
MoveStopThread.start()
FreeDriveThread = Thread(target=self.FreeDrive)
FreeDriveThread.setDaemon(True)
FreeDriveThread.start()
def FreeDrive(self):
while True:
self.Teaching()
def Teaching(self):
#print("self.FreeDriveSignal is........{}".format(self.FreeDriveSignal))
while self.FreeDriveSignal:
self.r.freedrive_mode(self)
#enters free drive mode and closes it after 1 sec. Constantly looping so as long as button was clicked then free drive is enabled.
else:
pass
def ThreadChecker(self):
while True:
self.TestingInputs()
def TestingInputs(self):
#Values = self.r.get_digital_in()
self.ButtonVal = self.r.get_in(0, False)
self.In_1 = self.r.get_in(1, False)
self.In_2 = self.r.get_in(2, False)
self.CurrentBtn_Val = self.ButtonVal
#checks to see if the button state has changed
if (self.PreviousBtn_Value == 0) & (self.CurrentBtn_Val == 1):
print("Button has been pressed")
print("free drive state has changed")
print("Digital Input is........{}".format(self.DigInputsDefault))
self.DigInputsDefault = not self.DigInputsDefault
print("Digital After press confirmation........{}".format(self.DigInputsDefault))
else:
pass
self.FreeDriveSignal = self.DigInputsDefault
self.PreviousBtn_Value = self.CurrentBtn_Val
def StopMove(self):
while True:
self.MoveStopper()
def MoveStopper(self):
self.r.reset_error()
if (self.In_1 == False) & (self.Send_Stop == False):
#print(self.Send_Stop)
if self.Start == False:
self.Send_Stop = True #send signal to stop
else:
pass
#pose = self.r.get_actual_tcp_pose()
#self.r.movel(pose, a = .015, v =.2)
self.r.stopj(.05)
elif self.Send_Stop == True:
pass
def MoveThread(self):
while True:
self.LinearMovement()
def LinearMovement(self):
if (self.In_1 == True) & (self.Send_Stop == True): #have input and we have already stopped previously
self.r.reset_error()
self.Send_Stop = False
v = [.025, 0, 0, 0, 0, 0]
self.r.speedl(v, a=.015, t=100, aRot=None, wait = True)
self.r.reset_error()
elif (self.In_1 == True):
self.r.reset_error()
self.Send_Stop = False
v = [.025, 0, 0, 0, 0, 0]
a = 0.025
self.r.speedl(v, a=.015, t=100, aRot=None, wait=False)
self.r.reset_error()
else:
pass
Robee = UR10()
该错误发生在MoveStopper（）中，我得到的主要两个错误是
RuntimeError：启动之前无法加入线程
RuntimeError：机器人程序执行错误！！！ *特定于URbasic库
通过搜索RopeRobotics URInterface可以找到URbasic