{"id":86470,"date":"2023-02-20T17:40:47","date_gmt":"2023-02-20T09:40:47","guid":{"rendered":"https:\/\/www.tm-robot.com\/docs\/what-are-base-and-tcp%ef%bc%9fhow-to-use-them\/"},"modified":"2023-02-21T12:18:28","modified_gmt":"2023-02-21T04:18:28","slug":"what-are-base-and-tcp%ef%bc%9fhow-to-use-them","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/zh-hant\/docs\/what-are-base-and-tcp%ef%bc%9fhow-to-use-them\/","title":{"rendered":"BASE\u8207TCP\u7684\u95dc\u4fc2\uff0c\u4ee5\u53ca\u61c9\u7528\u65b9\u5f0f"},"content":{"rendered":"<p><strong>\u672c\u7bc4\u4f8b\u4f7f\u7528\u74b0\u5883<\/strong><\/p>\n<p>TMflow\u8edf\u9ad4\u7248\u672c : 1.76 \u6216\u66f4\u65b0<\/p>\n<p>\u624b\u81c2\u786c\u9ad4\u7248\u672c : HW 1.x\/2.x\/3.x<\/p>\n<p>\u5176\u9918\u6e96\u5099 : \u7121<\/p>\n<p>\u8acb\u6ce8\u610f\uff0c\u5728\u4e0d\u540c\u7248\u672c\u7684\u8edf\u786c\u9ad4\u4e0a\u64cd\u4f5c\u53ef\u80fd\u6703\u6709\u4e9b\u5fae\u5dee\u7570<\/p>\n<p>&nbsp;<\/p>\n<h2>\u76ee\u6a19<\/h2>\n<p>\u95dc\u65bc\u9019\u4e3b\u984c\uff0c\u6700\u5e38\u898b\u7684\u554f\u984c\u70ba\uff1a<\/p>\n<ul>\n<li><span style=\"color: #ff0000;\">\u5982\u4f55\u6b63\u78ba\u4f7f\u7528BASE\u8207TCP<\/span>?<\/li>\n<li>\u6211\u53ef\u4ee5\u4f7f\u7528\u9810\u8a2d\u7684BASE(<span style=\"color: #ff0000;\">RobotBase<\/span>)\u8207TCP(<span style=\"color: #ff0000;\">NOTOOL<\/span>)\u4f86\u6559\u9ede\u55ce?<\/li>\n<li>\u70ba\u4ec0\u9ebc\u5728TMflow\u5c08\u6848\u5167\u7684POINT NODE\u4e0a\u3001\u6703\u6709\u4e0d\u540c\u7684<span style=\"color: #ff0000;\">BASE\/TCP<\/span>?<\/li>\n<li><span style=\"color: #ff0000;\">CustomBase<\/span>\u8207<span style=\"color: #ff0000;\">VisionBase<\/span>\u662f\u4ec0\u9ebc?<\/li>\n<li>\u5728\u624b\u81c2\u6709<span style=\"color: #ff0000;\">\u591a\u500b\u593e\u722a<\/span>\u7684\u60c5\u6cc1\u4e0b\uff0c\u6211\u600e\u9ebc\u4f7f\u7528\u591a\u500b<span style=\"color: #ff0000;\">TCP<\/span>?<\/li>\n<\/ul>\n<p>\u672c\u6587\u7ae0\u6703\u5c0d\u4ee5\u4e0a\u5e38\u898b\u554f\u984c\u4e00\u4e00\u8b1b\u89e3<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-7.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-86003\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-7.png\" alt=\"\" width=\"975\" height=\"614\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-7.png 975w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-7-300x189.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-7-768x484.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-7-360x227.png 360w\" sizes=\"(max-width: 975px) 100vw, 975px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h2>\u624b\u81c2\u5982\u4f55\u79fb\u52d5?<\/h2>\n<p>\u6211\u5011\u5f9e\u4e00\u500b\u79fb\u52d5\u547d\u4ee4\u958b\u59cb\u89e3\u8aaa<\/p>\n<p><span style=\"color: #0000ff;\">\u79fb\u52d5 <\/span><span style=\"color: #0000ff;\"><span style=\"color: #ff0000;\">\u67d0\u7269 <span style=\"color: #0000ff;\">\u5230<\/span><\/span><\/span><span style=\"color: #0000ff;\">\u00a0<\/span><span style=\"color: #ff0000;\">\u6307\u5b9a\u4f4d\u7f6e<\/span><\/p>\n<p>&nbsp;<\/p>\n<p>\u4f8b\u5982\uff1a<\/p>\n<p><span style=\"color: #0000ff;\">\u79fb\u52d5\u00a0<\/span>[<span style=\"color: #ff0000;\">\u98df\u6307<\/span>] <span style=\"color: #0000ff;\">\u5230<\/span> [<span style=\"color: #ff0000;\">\u9375\u76e4\u4e0a\u7684ENTER\u9375<\/span>]<\/p>\n<p>\u518d\u8f49\u63db\u6210\u624b\u81c2\u8a9e\u8a00\u4e4b\u5f8c\uff1a<\/p>\n<p><span style=\"color: #0000ff;\">\u79fb\u52d5<\/span> [<span style=\"color: #ff0000;\">TCP<\/span>] <span style=\"color: #0000ff;\">\u5230<\/span> [ <span style=\"color: #ff0000;\">\u76ee\u6a19\u5ea7\u6a19\uff0c\u4ee5<\/span>\u00a0<span style=\"color: #ff0000;\">CustomBase1\u70ba\u539f\u9ede<\/span>]<\/p>\n<p>&nbsp;<\/p>\n<p>\u6240\u4ee5\uff0c\u57fa\u672c\u7684\u904b\u52d5\u6307\u4ee4\u5305\u542b\u4ee5\u4e0b\u9019\u5e7e\u500b(\u901f\u5ea6\u7b49\u5176\u9918\u53c3\u6578\u5148\u7565\u904e)<\/p>\n<p>&nbsp;<\/p>\n<p><span style=\"color: #ff0000;\">\u76ee\u6a19\u5ea7\u6a19<\/span><\/p>\n<p><span style=\"color: #ff0000;\">TCP<\/span><\/p>\n<p><span style=\"color: #ff0000;\">BASE<\/span>(CustomBase, VisionBase, \u539f\u9ede)<\/p>\n<p>&nbsp;<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-85914\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6.png\" alt=\"\" width=\"1270\" height=\"504\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6.png 1270w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6-300x119.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6-1024x406.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6-768x305.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6-360x143.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6-1000x397.png 1000w\" sizes=\"(max-width: 1270px) 100vw, 1270px\" \/><\/a><\/p>\n<h2>\u5ea7\u6a19\u7cfb\u7684\u8868\u9054\u65b9\u5f0f<\/h2>\n<p>\u6211\u5011\u53ef\u4ee5\u4f7f\u7528\u53f3\u624b\u5b9a\u5247\u4f86\u78ba\u8a8d\u5ea7\u6a19\u7cfb\u7684\u65b9\u5411<\/p>\n<p>X\u8ef8\u4ee5<span style=\"color: #ff0000;\">\u7d05\u8272<\/span>\u8868\u793a\uff1bY\u8ef8\u4ee5<span style=\"color: #339966;\">\u7da0\u8272<\/span>\u3001Z\u8ef8\u4ee5<span style=\"color: #0000ff;\">\u85cd\u8272<\/span>\u8868\u793a<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-9.png\"><img loading=\"lazy\" class=\"size-full wp-image-85933 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-9.png\" alt=\"\" width=\"522\" height=\"325\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-9.png 522w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-9-300x187.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-9-360x224.png 360w\" sizes=\"(max-width: 522px) 100vw, 522px\" \/><\/a><\/p>\n<h2>\u76ee\u6a19\u5ea7\u6a19<\/h2>\n<p><span style=\"color: #ff0000;\">\u76ee\u6a19\u5ea7\u6a19<span style=\"color: #000000;\">\u63cf\u8ff0\u4e86\u8ddd\u96e2\u539f\u9edeBASE\u6709\u591a\u9060\u3001\u4ee5\u53ca\u76f8\u5c0d\u7684\u65cb\u8f49\u95dc\u4fc2<\/span><\/span><\/p>\n<p><span style=\"color: #ff0000;\"><span style=\"color: #000000;\">\u5b83\u5305\u542b\u4e86[ X, Y, Z, Rx, Ry, Rz]\uff0c\u53ef\u5206\u6210<span style=\"color: #ff0000;\">\u5e73\u79fb<\/span>\u8207<span style=\"color: #ff0000;\">\u65cb\u8f49<\/span>\u9019\u5169\u500b\u90e8\u5206<\/span><\/span><\/p>\n<p>&nbsp;<\/p>\n<h3>\u5e73\u79fb [ X, Y, Z ]<\/h3>\n<p>\u76ee\u6a19\u5ea7\u6a19\u7684\u516d\u500b\u53c3\u6578\u4e2d\uff0c[<span style=\"color: #ff0000;\">X, Y, Z<\/span>] \u5206\u5225\u4ee3\u8868\u8207\u00a0<span style=\"color: #ff0000;\">BASE.X<\/span> \u8ef8\u3001<span style=\"color: #ff0000;\">BASE.Y<\/span> \u8ef8\u53ca <span style=\"color: #ff0000;\">BASE.Z<span style=\"color: #000000;\">\u8ef8<\/span><\/span>\u7684\u8ddd\u96e2<\/p>\n<p>\u55ae\u4f4d\u662f\u9577\u5ea6\uff0c\u901a\u5e38\u4ee5mm\u70ba\u55ae\u4f4d\uff0c\u4f8b\u5982\u60a8\u53ef\u80fd\u770b\u5230\u67d0\u500b\u5ea7\u6a19\u70ba[ 100.5, -70, 33.1 ]<\/p>\n<p>&nbsp;<\/p>\n<p>\u6b64\u5916\uff0c\u9019\u662f\u67d0\u500b\u76ee\u6a19\u5728\u7a7a\u9593\u4e2d\u7684\u5ea7\u6a19\u8868\u793a\uff1b\u8a72\u76ee\u6a19\u7684<span style=\"color: #ff0000;\">\u65b9\u5411\u8207BASE\u76f8\u540c<\/span>(\u65cb\u8f49\u89d2\u00a0<span style=\"color: #ff0000;\"><span style=\"color: #000000;\">[Rx, Ry, Rz] \u7b49\u65bc [0,0,0] )\uff1a<\/span><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-8.png\"><img loading=\"lazy\" class=\"size-full wp-image-85927 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-8.png\" alt=\"\" width=\"734\" height=\"249\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-8.png 734w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-8-300x102.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-8-360x122.png 360w\" sizes=\"(max-width: 734px) 100vw, 734px\" \/><\/a><\/p>\n<h3>\u65cb\u8f49 [Rx, Ry, Rz]<\/h3>\n<p><span style=\"color: #ff0000;\">\u5e73\u79fb<\/span>\u90e8\u5206\u76f8\u5c0d\u8f03\u597d\u7406\u89e3\uff0c\u4f46<span style=\"color: #0000ff;\">\u65cb\u8f49<\/span>\u90e8\u5206<span style=\"color: #0000ff;\">[ Rx, Ry, Rz ]<\/span>\u5462?<\/p>\n<p><span style=\"color: #ff0000;\">[ X, Y, Z ]<\/span> \u4ee3\u8868\u79fb\u52d5\u8ddd\u96e2\uff0c\u76f8\u540c\u7684\uff0c<span style=\"color: #0000ff;\">[ Rx, Ry, Rz ]<\/span>\u4ee3\u8868\u5ea7\u6a19\u7cfb\u7e5e\u8ef8\u65cb\u8f49\u5f8c\u7684\u7d50\u679c<\/p>\n<p>\u6709\u8a31\u591a\u63cf\u8ff0\u65b9\u5f0f\u4f86\u8868\u9054\u7a7a\u9593\u4e2d\u7684<span style=\"color: #0000ff;\">\u65cb\u8f49<\/span>\uff0c\u800c\u9054\u660e\u6a5f\u5668\u4eba\u7cfb\u7d71\u4f7f\u7528<span style=\"color: #0000ff;\">EulerZYX<\/span>\u7684\u8868\u9054\u65b9\u5f0f\uff1b\u6211\u5011\u6703\u5728\u672c\u6bb5\u843d\u7684\u6700\u5f8c\u4ecb\u7d39<span style=\"color: #0000ff;\">EulerZYX<\/span><\/p>\n<p>\u65cb\u8f49[ Rx, Ry, Rz ]\u7684\u55ae\u4f4d\u662f\u02da(\u5ea6)\uff0c\u7bc4\u570d\u662f-180.0~+180.0<\/p>\n<p>\u4f8b\u5982\uff0c\u60a8\u6703\u770b\u5230\u67d0\u500b\u5ea7\u6a19\u7684\u65cb\u8f49\u90e8\u5206\u70ba[-45.9, 179.0, 30]<\/p>\n<p>&nbsp;<\/p>\n<p>\u65cb\u8f49\u8ef8\u7684\u6b63\u65b9\u5411\u4e5f\u53ef\u4f7f\u7528<span style=\"color: #0000ff;\">\u53f3\u624b\u5b9a\u5247<\/span>\u4f86\u78ba\u8a8d\uff0c\u4ee5\u4e0b\u9019\u5169\u7a2e\u65b9\u5f0f\u76f8\u540c\uff1a<\/p>\n<p>(1) \u5982\u679c<span style=\"color: #ff0000;\">\u59c6\u6307<\/span>\u4ee3\u8868\u8981<span style=\"color: #0000ff;\">\u65cb\u8f49<\/span>\u7684\u8ef8\uff0c\u5247<span style=\"color: #ff0000;\">\u56db\u6307<\/span>\u7684\u65b9\u5411\u5373\u70ba\u65cb\u8f49\u7684<span style=\"color: #0000ff;\">\u6b63\u65b9\u5411<\/span><\/p>\n<p>(2) \u5f9e<span style=\"color: #ff0000;\">\u59c6\u6307<\/span>(\u65cb\u8f49\u8ef8)\u65b9\u5411\u770b\u5f80\u904e\u53bb\uff0c<span style=\"color: #0000ff;\">\u9006\u6642\u9418<\/span>\u65b9\u5411\u5b9a\u7fa9\u70ba\u6b63\u65b9\u5411<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-11.png\"><img loading=\"lazy\" class=\"size-full wp-image-85953 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-11.png\" alt=\"\" width=\"749\" height=\"531\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-11.png 749w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-11-300x213.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-11-360x255.png 360w\" sizes=\"(max-width: 749px) 100vw, 749px\" \/><\/a><\/p>\n<h3><strong>\u7bc4\u4f8b1 &#8211; \u53ea\u65cb\u8f49Rz<\/strong><\/h3>\n<p>\u5ef6\u7e8c\u525b\u624d\u7684\u7bc4\u4f8b\uff0c\u8ffd\u52a0<span style=\"color: #0000ff;\">Rz = +90\u02da<\/span>\u7684\u65cb\u8f49\u89d2<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-10.png\"><img loading=\"lazy\" class=\"size-full wp-image-85947 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-10.png\" alt=\"\" width=\"749\" height=\"531\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-10.png 749w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-10-300x213.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-10-360x255.png 360w\" sizes=\"(max-width: 749px) 100vw, 749px\" \/><\/a><\/p>\n<p>\u5be6\u969b\u4e0a\u6703\u6709\u9019\u6a23\u7684\u6548\u679c\uff1a<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Orientation.gif\"><img loading=\"lazy\" class=\"size-full wp-image-85941 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Orientation.gif\" alt=\"\" width=\"600\" height=\"338\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3><strong>\u7bc4\u4f8b2 &#8211; \u5148\u8f49Rz\u3001\u518d\u8f49Ry\u53caRx(EulerZYX)<\/strong><\/h3>\n<p>\u8207\u5e73\u79fb[ X, Y, Z ]\u7684\u5404\u8ef8\u7368\u7acb\u4e0d\u540c\uff0c\u65cb\u8f49[ Rx, Ry, Rz ]\u7684\u63cf\u8ff0\u5f7c\u6b64\u6703\u6709\u95dc\u4fc2\uff0c\u56e0\u6b64\u5728\u9019\u88e1\u9700\u8981\u4f7f\u7528<span style=\"color: #0000ff;\"><strong>EulerZYX<\/strong><\/span>\u4f86\u63cf\u8ff0<span style=\"color: #0000ff;\">\u65cb\u8f49<\/span><\/p>\n<p>&nbsp;<\/p>\n<p><span style=\"color: #0000ff;\"><strong>\u65cb\u8f49[ Rx, Ry, Rz ]\u3001EulerZYX \u7684\u64cd\u4f5c\u65b9\u5f0f\u00a0<\/strong><\/span><\/p>\n<p>(1) \u4ee5<span style=\"color: #ff0000;\">BASE<\/span>\u70ba\u57fa\u6e96\u3001\u65cb\u8f49\u5b83\u7684Z\u8ef8 <span style=\"color: #0000ff;\">Rz<\/span><span style=\"color: #000000;\">\u02da<\/span><\/p>\n<p>(2) \u4ee5<span style=\"color: #ff0000;\">\u6b65\u9a5f1\u65cb\u8f49\u5f8c\u7684\u5ea7\u6a19<\/span>\u70ba\u57fa\u6e96\u3001\u518d\u65cb\u8f49\u5b83\u7684Y\u8ef8 <span style=\"color: #0000ff;\">Ry<\/span><span style=\"color: #000000;\">\u02da<\/span><\/p>\n<p>(3) \u4ee5<span style=\"color: #ff0000;\">\u6b65\u9a5f2\u65cb\u8f49\u5f8c\u7684\u5ea7\u6a19<\/span>\u70ba\u57fa\u6e96\u3001\u518d\u65cb\u8f49\u5b83\u7684X\u8ef8 <span style=\"color: #0000ff;\">Rx<\/span><span style=\"color: #000000;\">\u02da<\/span><\/p>\n<p>\u56e0\u70ba\u662f\u7167\u8457<span style=\"color: #0000ff;\">Z\u8ef8<\/span>\u3001<span style=\"color: #339966;\">Y\u8ef8<\/span>\u3001<span style=\"color: #ff0000;\">X\u8ef8<\/span>\u7684\u9806\u5e8f\u65cb\u8f49\uff0c\u6240\u4ee5\u5b83\u88ab\u547d\u540d\u70baEuler<span style=\"color: #0000ff;\">Z<span style=\"color: #339966;\">Y<\/span><span style=\"color: #ff0000;\">X<\/span><\/span><\/p>\n<p>&nbsp;<\/p>\n<p>\u4ee5\u4e0b\u70ba\u65cb\u8f49[ Rx, Ry, Rz ] = [ 30, -45, 90 ] \u7684\u6b65\u9a5f\u8aaa\u660e\uff0c\u6ce8\u610f\u8ef8\u7684<span style=\"color: #ff0000;\">\u9006\u6642\u9418<\/span>\u65b9\u5411\u70ba\u6b63\u65b9\u5411<\/p>\n<p>&nbsp;<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15.png\"><img loading=\"lazy\" class=\"size-full wp-image-85990 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15.png\" alt=\"\" width=\"1414\" height=\"812\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15.png 1414w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15-300x172.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15-1024x588.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15-768x441.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15-360x207.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15-1000x574.png 1000w\" sizes=\"(max-width: 1414px) 100vw, 1414px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>\u5148\u8f49Z\u8ef8\u3001\u518d\u8f49Y\u8ef8\u3001\u6700\u5f8c\u8f49X\u8ef8<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Orientation2.gif\"><img loading=\"lazy\" class=\"size-full wp-image-85981 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Orientation2.gif\" alt=\"\" width=\"600\" height=\"338\" \/><\/a><\/p>\n<blockquote><p>\u91cd\u9ede\u6574\u7406<\/p>\n<p>(1) <span style=\"color: #0000ff;\">Euler<\/span>\u8868\u9054\u65b9\u5f0f\u5171\u670912\u7a2e\uff0c\u50cf\u662fEulerXYX, Euler ZXZ&#8230;\u7b49\u7b49\uff0c\u53ea\u5dee\u5225\u5728\u65cb\u8f49\u8ef8\u7684\u9806\u5e8f\uff1b<span style=\"color: #0000ff;\">EulerZYX<\/span>\u662f\u5176\u4e2d\u4e00\u7a2e\u3001\u4e5f\u662f\u624b\u81c2\u7cfb\u7d71\u8f03\u5e38\u4f7f\u7528\u7684\u65b9\u5f0f<\/p>\n<p>(2) <strong><span style=\"color: #0000ff;\">EulerZYX<\/span> <\/strong>\u4ee3\u8868\uff1a\u5148\u65cb\u8f49Z\u8ef8\u3001\u518d\u8f49Y\u8ef8\u3001\u6700\u5f8c\u8f49X\u8ef8<\/p><\/blockquote>\n<p>&nbsp;<\/p>\n<h2>TCP &#8211; Tool Center Point \u5de5\u5177\u4e2d\u5fc3<\/h2>\n<p>TCP\uff0c\u5373<span style=\"color: #ff0000;\">T<\/span>ool <span style=\"color: #ff0000;\">C<\/span>enter <span style=\"color: #ff0000;\">P<\/span>oint\u5de5\u5177\u4e2d\u5fc3\uff0c\u662f\u4ee3\u8868<span style=\"color: #ff0000;\">\u624b\u81c2\u524d\u7aef\u67d0\u5c16\u9ede<\/span>\u8ddd\u96e2\u6cd5\u862d\u7684<span style=\"color: #ff0000;\">\u504f\u79fb(\u76ee\u6a19\u5ea7\u6a19)<\/span>\u95dc\u4fc2\uff0c\u4e00\u6a23\u6709[ X, Y, Z, Rx, Ry, Rz ]<\/p>\n<p>\u540c\u6642\u53ea\u80fd\u555f\u7528\u4e00\u500bTCP\uff1b\u82e5\u90fd\u4e0d\u6307\u5b9a\uff0c\u5247\u9810\u8a2d\u6703\u4f7f\u7528NOTOOL(Tool0)<\/p>\n<p>&nbsp;<\/p>\n<p>\u5728\u710a\u63a5\u69cd\u524d\u7aef\u8a2d\u5b9aTCP\u7684\u7bc4\u4f8b\uff1a<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14.png\"><img loading=\"lazy\" class=\" wp-image-86061 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14.png\" alt=\"\" width=\"233\" height=\"415\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14.png 408w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14-168x300.png 168w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14-287x512.png 287w\" sizes=\"(max-width: 233px) 100vw, 233px\" \/><\/a><\/p>\n<p>\u8a18\u5f97\u6700\u524d\u9762\u63d0\u5230\u7684\u6307\u982d\u8207\u9375\u76e4\u7bc4\u4f8b\u55ce\uff1f\u4ee5\u4e0b\u6587\u7ae0\u6703\u4f7f\u7528<span style=\"color: #ff0000;\">\u5c16\u7aef<\/span>(\u6216<span style=\"color: #ff0000;\">\u6307\u982d<\/span>)\u4f86\u63cf\u8ff0<span style=\"color: #ff0000;\">TCP<\/span>\u3001\u5e6b\u52a9\u7406\u89e3<\/p>\n<p>&nbsp;<\/p>\n<h3><strong>\u70ba\u4ec0\u9ebc\u9700\u8981 TCP?<\/strong><\/h3>\n<p>TCP\u4ee3\u8868\u6b63\u78ba\u7684<span style=\"color: #ff0000;\">\u5c16\u7aef<\/span>\u3001\u4ee5\u53ca\u60a8\u5e0c\u671b\u5728\u624b\u81c2\u4e0a\u88ab\u79fb\u52d5\u7684<span style=\"color: #ff0000;\">\u90a3\u500b\u9ede<\/span><\/p>\n<p>&nbsp;<\/p>\n<p>\u4ee5\u4e0b\u7bc4\u4f8b\u70ba\u7121TCP\u8207\u6709TCP\u7684\u5dee\u5225\uff1a<\/p>\n<p>\u79fb\u52d5\u624b\u81c2\u5230<span style=\"color: #ff0000;\">P1<\/span>\u4f4d\u7f6e\uff0c\u76f8\u5c0d\u65bcBASE <span style=\"color: #ff0000;\">RobotBase<span style=\"color: #000000;\">\uff1b\u5de6\u908a\u662f\u9810\u8a2d\u7684<span style=\"color: #ff0000;\">NOTOOL<\/span>\u3001\u53f3\u908a\u662f\u710a\u69cdTCP(<span style=\"color: #ff0000;\">MyTCP1<\/span>)<\/span><\/span><\/p>\n<p>\u5169\u8005\u5728\u7a7a\u9593\u4e2d\u90fd\u662f\u79fb\u52d5\u5230\u540c\u4f4d\u7f6e\u7684<span style=\"color: #ff0000;\">P1<\/span>\uff0c\u4f46\u624b\u81c2\u6703\u7528\u4e0d\u540c\u5c16\u9ede\u53bb\u6307\u5230<span style=\"color: #ff0000;\">P1<\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12.png\"><img loading=\"lazy\" class=\"size-full wp-image-86016 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12.png\" alt=\"\" width=\"1440\" height=\"535\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12.png 1440w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12-300x111.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12-1024x380.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12-768x285.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12-360x134.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12-1000x372.png 1000w\" sizes=\"(max-width: 1440px) 100vw, 1440px\" \/><\/a><\/p>\n<p>\u4f7f\u7528TCP\u6703\u6709\u4ee5\u4e0b\u7684\u512a\u9ede<\/p>\n<h3><strong>\u512a\u9ede1 &#8211; \u5728\u60a8\u8981\u7684\u5c16\u9ede\u65cb\u8f49\u3001\u65b9\u4fbf\u624b\u52d5\u64cd\u4f5c\u624b\u81c2(\u4fbf\u65bc\u64cd\u4f5c)<\/strong><\/h3>\n<p>\u7576\u9700\u8981<span style=\"color: #ff0000;\">\u7e5e\u5c16\u9ede\u65cb\u8f49<\/span>\u6642\u3001\u624b\u81c2\u5e36\u6709<span style=\"color: #ff0000;\">\u6b63\u78ba\u7684TCP<\/span>\u6703\u5c0d\u65bc\u64cd\u4f5c\u4e0a\u6709\u5f88\u5927\u7684\u5e6b\u52a9\uff1b\u60a8\u53ef\u4ee5\u50cf\u4e0b\u5716\u9019\u6a23<span style=\"color: #ff0000;\">\u6307\u5b9a\u624b\u81c2\u5c16\u9ede\u5728\u7a7a\u9593\u4e2d\u7e5e\u5713<\/span>\u3001\u8abf\u6574\u9700\u8981\u7684\u89d2\u5ea6<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP1.gif\"><img loading=\"lazy\" class=\"size-full wp-image-86023 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP1.gif\" alt=\"\" width=\"600\" height=\"338\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3><strong>\u512a\u9ede2 &#8211; \u8abf\u6574TCP\u9577\u5ea6\u3001\u540c\u6642\u7dad\u6301\u8abf\u6574\u524d\u7684\u8def\u5f91(\u7701\u6642)<\/strong><\/h3>\n<p>\u4ee5\u710a\u63a5\u61c9\u7528\u70ba\u4f8b\uff0c\u710a\u7d72\u7684\u672b\u7aef\u9577\u5ea6\u53ef\u80fd\u6539\u8b8a\uff0c\u9019\u6642\u53ef\u76f4\u63a5\u8abf\u6574TCP\u7684\u503c\u3001\u624b\u81c2\u5373\u6703\u4ee5\u65b0\u7684TCP\u53bb\u57f7\u884c\u539f\u672c\u76f8\u540c\u7684\u8def\u5f91<\/p>\n<p>\u5982\u679c<span style=\"color: #ff0000;\">\u6c92\u6709\u4f7f\u7528\u6b63\u78ba\u7684TCP<\/span>\uff0c\u5247\u6240\u6709\u8def\u5f91\u5728\u5c16\u9ede\u6539\u8b8a\u4f4d\u7f6e\u5f8c\u90fd<span style=\"color: #ff0000;\">\u9700\u8981\u91cd\u65b0\u624b\u52d5\u6559\u5c0e<\/span>\uff0c\u6703\u6d6a\u8cbb\u5927\u91cf\u6642\u9593<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-5.png\"><img loading=\"lazy\" class=\"wp-image-86029 alignleft\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-5.png\" alt=\"\" width=\"351\" height=\"331\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-5.png 674w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-5-300x283.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-5-360x339.png 360w\" sizes=\"(max-width: 351px) 100vw, 351px\" \/><\/a><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP2.gif\"><img loading=\"lazy\" class=\"alignnone wp-image-86035\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP2.gif\" alt=\"\" width=\"424\" height=\"239\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h3><strong>\u512a\u9ede3 &#8211; \u4ee5\u5de5\u5177\u5ea7\u6a19\u7cfb\u70ba\u65b9\u5411\u79fb\u52d5(\u4fbf\u65bc\u64cd\u4f5c)<\/strong><\/h3>\n<p>\u4ee5\u4e0b\u5716\u70ba\u4f8b\uff0c\u710a\u69cd\u7684\u5ea7\u6a19\u65b9\u5411\u8207\u6cd5\u862d\u4e0d\u540c<\/p>\n<p>\u82e5\u6b64\u6642\u60a8\u5e0c\u671b\u4ee5<span style=\"color: #ff0000;\">\u710a\u69cdTCP\u7684\u65b9\u5411\u79fb\u52d5<\/span>\uff0c\u5247\u53ef\u4ee5\u5728TMflow\u5c08\u6848\u4e2d\u4f7f\u7528 MOVE NODE\u4f86<span style=\"color: #ff0000;\">\u6cbf\u8457TCP\u5ea7\u6a19\u65b9\u5411\u79fb\u52d5<\/span>\uff0c\u9069\u5408\u7528\u5728\u624b\u81c2\u63d2\u4ef6\u7b49\u61c9\u7528<\/p>\n<p>\u6ce8\u610f\u8a72TCP\u65b9\u5411\u70ba\u7576\u4e0b\u7684TCP\u65b9\u5411<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-13.png\"><img loading=\"lazy\" class=\"alignnone wp-image-86041\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-13.png\" alt=\"\" width=\"296\" height=\"335\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-13.png 588w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-13-266x300.png 266w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-13-360x407.png 360w\" sizes=\"(max-width: 296px) 100vw, 296px\" \/><\/a> \u00a0 \u00a0 \u00a0 <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP3.gif\"><img loading=\"lazy\" class=\"alignnone wp-image-86053\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP3.gif\" alt=\"\" width=\"478\" height=\"269\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3><strong>\u5982\u4f55\u8a2d\u5b9aTCP?<\/strong><\/h3>\n<p>\u6709\u5169\u7a2e\u65b9\u6cd5\u8a2d\u5b9aTCP<\/p>\n<p>\u5230\u00a0<strong><em>TMflow &gt; Menu &gt; Setting &gt; TCP Settings<\/em>\u00a0<\/strong><\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u65b9\u6cd51 &#8211; \u76f4\u63a5\u6559\u5c0e<\/strong><\/p>\n<p>\u6e96\u5099\u4e00\u500b\u786c\u9ad4\u4e0a\u7684\u5c16\u9ede\u4e26\u88dd\u5728\u60a8\u60f3\u8a2d\u5b9a\u7684TCP\u4f4d\u7f6e\uff1b\u53e6\u5916\u518d\u6e96\u5099\u4e00\u500b\u5c16\u9ede\u653e\u7f6e\u65bc\u56fa\u5b9a\u4e0d\u52d5\u7684\u684c\u9762\u4e0a<\/p>\n<p>&nbsp;<\/p>\n<p><span style=\"color: #ff6600;\">\u4f9d\u756b\u9762\u6307\u793a\u4f86\u6559\u5c0e\u591a\u500b\u9ede\uff0c\u7d30\u7bc0\u8acb\u53c3\u8003<strong><em>TMflow manual<\/em><\/strong> \u6216\u641c\u5c0b\u00a0<strong><em>UNDERSTANDING THE VISION BASE AND TCP<\/em><\/strong>\u00a0 technical document<\/span><\/p>\n<p><span style=\"color: #ff6600;\">\u6ce8\u610f\u7528\u6b64\u65b9\u5f0f\u7121\u6cd5\u8a2d\u5b9aTCP\u7684Rx, Ry, Rz<\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-16.png\"><img loading=\"lazy\" class=\"size-full wp-image-86067 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-16.png\" alt=\"\" width=\"909\" height=\"212\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-16.png 909w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-16-300x70.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-16-768x179.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-16-360x84.png 360w\" sizes=\"(max-width: 909px) 100vw, 909px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u65b9\u6cd52 &#8211; \u8f38\u5165\u53c3\u6578<\/strong><\/p>\n<p>\u5728CAD\u8edf\u9ad4\u4e0a\u53d6\u5f97\u60a8\u7684TCP\u5ea7\u6a19(\u5982\u593e\u722a\u4e2d\u5fc3)\uff0c\u6703\u9700\u8981\u9019\u4e9b\u53c3\u6578[X, Y, Z, Rx, Ry, Rz]<\/p>\n<p>\u6ce8\u610f\uff0c<span style=\"color: #ff0000;\">\u91cd\u91cfmass<\/span>\u8207<span style=\"color: #ff0000;\">\u8cea\u5fc3center of mass<\/span>\u5fc5\u9808\u6b63\u78ba\u8a2d\u7f6e\uff0c\u5426\u5247\u624b\u81c2\u6703\u5728\u904b\u52d5\u904e\u7a0b\u4e2d\u8aa4\u5831\u8b66\u800c\u505c\u6b62<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14.png\"><img loading=\"lazy\" class=\"wp-image-86061 alignleft\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14.png\" alt=\"\" width=\"185\" height=\"330\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14.png 408w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14-168x300.png 168w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14-287x512.png 287w\" sizes=\"(max-width: 185px) 100vw, 185px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-17.png\"><img loading=\"lazy\" class=\"wp-image-86073 alignleft\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-17.png\" alt=\"\" width=\"528\" height=\"314\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-17.png 909w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-17-300x179.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-17-768x457.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-17-360x214.png 360w\" sizes=\"(max-width: 528px) 100vw, 528px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>\u7576TCP\u5df2\u6b63\u78ba\u8a2d\u5b9a\uff0c\u53ef\u4ee5\u900f\u904e\u65cb\u8f49\u7684\u65b9\u5f0f\u4f86\u64cd\u4f5c\u6a5f\u5668\u4eba\uff0cTCP\u6703\u5728\u7a7a\u9593\u4e2d\u76e1\u91cf\u4fdd\u6301\u4e0d\u52d5<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP4.gif\"><img loading=\"lazy\" class=\"size-full wp-image-86182 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP4.gif\" alt=\"\" width=\"600\" height=\"338\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3>\u7df4\u7fd2 &#8211; \u96d9\u593e\u722a\u7684TCP\u8a2d\u5b9a<\/h3>\n<p>\u4ee5\u4e0b\u70ba\u4e0a\u4e0b\u6599\u61c9\u7528\u4e2d\u7684\u96d9\u593e\u722a\u8a2d\u5b9a\uff1b<span style=\"color: #ff0000;\">\u7d66\u5b9aCAD\u5c3a\u5bf8\u8207\u65b9\u5411<\/span>\u5f8c\uff0c\u8acb\u8a08\u7b97\u51fa\u6b63\u78ba\u7684TCP1\u8207TCP2<\/p>\n<p>(TCP\u7684Y\u8ef8\u8207\u6cd5\u862dY\u8ef8\u91cd\u758a)<\/p>\n<p>&nbsp;<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19.png\"><img loading=\"lazy\" class=\"size-full wp-image-86086 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19.png\" alt=\"\" width=\"1446\" height=\"695\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19.png 1446w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19-300x144.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19-1024x492.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19-768x369.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19-360x173.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19-1000x481.png 1000w\" sizes=\"(max-width: 1446px) 100vw, 1446px\" \/><\/a><\/p>\n<p>\u4ee5\u4e0b\u70ba\u89e3\u7b54<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-20.png\"><img loading=\"lazy\" class=\"size-full wp-image-86092 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-20.png\" alt=\"\" width=\"713\" height=\"656\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-20.png 713w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-20-300x276.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-20-360x331.png 360w\" sizes=\"(max-width: 713px) 100vw, 713px\" \/><\/a><\/p>\n<h3>TCP &#8211; HandCamera<\/h3>\n<p>\u7576\u624b\u81c2\u4e0a\u6709\u8996\u89ba\u7cfb\u7d71<span style=\"color: #ff0000;\">camera on hand<\/span>(\u6216Eye-in-Hand camera, <span style=\"color: #ff0000;\">EIH<\/span> camera)\u4e14\u6b63\u78ba\u6821\u6b63\u5b8c\u6210\u6642\uff0c\u7cfb\u7d71\u5167\u6703\u81ea\u52d5\u751f\u6210\u4e00\u500bTCP\u540d\u70ba<span style=\"color: #ff0000;\">HandCamera<\/span><\/p>\n<p>\u9019\u662f\u8a2d\u5b9a\u5728\u8996\u89ba\u93e1\u982d\u4e2d\u5fc3\u7684TCP\uff0c\u60a8\u53ef\u4ee5\u5728\u8996\u89ba\u61c9\u7528\u4e2d\u53bb\u4f7f\u7528\u6b64TCP<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18.png\"><img loading=\"lazy\" class=\"size-full wp-image-86169 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18.png\" alt=\"\" width=\"1183\" height=\"466\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18.png 1183w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18-300x118.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18-1024x403.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18-768x303.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18-360x142.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18-1000x394.png 1000w\" sizes=\"(max-width: 1183px) 100vw, 1183px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h2>BASE &#8211; \u539f\u9ede<\/h2>\n<p><span style=\"color: #ff0000;\">BASE <\/span>\u662f\u5ea7\u6a19\u7cfb\u7684\u539f\u9ede\uff0c\u5373<span style=\"color: #ff0000;\">\u76ee\u6a19\u5ea7\u6a19[ X, Y, Z, Rx, Ry, Rz]<\/span>\u00a0\u53c3\u8003\u7684\u539f\u9ede<\/p>\n<p><span style=\"color: #ff0000;\">BASE<\/span>\u5305\u62ec<span style=\"color: #ff0000;\">CustomBase<\/span>, <span style=\"color: #ff0000;\">VisionBase<\/span>, <span style=\"color: #ff0000;\">RobotBase<\/span><\/p>\n<p>\u540c\u6642\u53ea\u80fd\u555f\u7528\u4e00\u500bBASE\uff1b\u9810\u8a2d\u70ba\u624b\u81c2\u5e95\u5ea7\u4e0a\u7684<span style=\"color: #ff0000;\"><span style=\"color: #000000;\">RobotBase <\/span><\/span><\/p>\n<p>&nbsp;<\/p>\n<p>\u4ee5\u4e0b\u70ba\u7c21\u55ae\u7684\u79fb\u52d5\u7bc4\u4f8b<\/p>\n<p>P_StandBy -&gt; <span style=\"color: #ff0000;\">P1 &#8211;<\/span>&gt;<span style=\"color: #ff0000;\"> P2<\/span> -&gt; <span style=\"color: #ff0000;\">P3<\/span> -&gt; <span style=\"color: #ff0000;\">P4<\/span> -&gt; <span style=\"color: #ff0000;\">P1<\/span> -&gt; P_StandBy, \u4f7f\u7528\u4e00\u500b\u540d\u70ba<span style=\"color: #ff0000;\">CustomBase1<span style=\"color: #000000;\">\u7684BASE<\/span><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/BASE1.gif\"><img loading=\"lazy\" class=\"size-full wp-image-86212 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/BASE1.gif\" alt=\"\" width=\"600\" height=\"338\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>\u9019\u4e9b\u9ede\u90fd\u662f\u4ee5<span style=\"color: #ff0000;\">CustomBase1<span style=\"color: #000000;\">\u70ba\u539f\u9ede\uff1b\u4f8b\u5982P3\u7684\u5ea7\u6a19 = [X, Y, Z, Rx, Ry, Rz] = [300, 400, 100, 180, 0, 180]\u3001\u76f8\u5c0d\u65bc<span style=\"color: #ff0000;\">CustomBase1<\/span><\/span><\/span><\/p>\n<p>\u6ce8\u610f\uff0c [Rx, Ry, Rz] \u662f [180,0,180]\uff0c\u56e0\u70ba\u9ede\u4f4d\u7684\u65b9\u5411\u8207<span style=\"color: #ff0000;\">CustomBase1<\/span>\u7684\u65b9\u5411\u4e0d\u540c(\u4e0a\u4e0b\u985b\u5012)<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21.png\"><img loading=\"lazy\" class=\"size-full wp-image-86219 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21.png\" alt=\"\" width=\"1505\" height=\"656\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21.png 1505w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21-300x131.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21-1024x446.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21-768x335.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21-360x157.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21-1000x436.png 1000w\" sizes=\"(max-width: 1505px) 100vw, 1505px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3>\u70ba\u4f55\u9700\u8981BASE?<\/h3>\n<p>\u4f7f\u7528BASE\u6709\u4ee5\u4e0b\u5e7e\u500b\u597d\u8655\uff1a<\/p>\n<h3>\u597d\u86551 &#8211; \u8def\u5f91\u4fee\u6b63 &amp; TM Landmark<\/h3>\n<p>\u5ef6\u7e8c\u524d\u9762\u7bc4\u4f8b\uff0c\u7576\u684c\u9762<span style=\"color: #ff0000;\">\u79fb\u52d5<\/span>(\u540c\u6642BASE\u4e5f\u8a2d\u5b9a\u5728\u684c\u89d2)\u6642\uff0c\u53ea\u8981<span style=\"color: #ff0000;\">\u91cd\u65b0\u5b9a\u7fa9BASE<\/span>\u3001\u5247\u539f\u672c\u7684\u8def\u5f91\u6703<span style=\"color: #ff0000;\">\u81ea\u52d5\u88ab\u4fee\u6b63<\/span>\uff1b\u7576\u684c\u9762\u4e0a\u6709\u5f88\u591a\u8def\u5f91\u6642\uff0c\u53ef\u4ee5\u7701\u4e0b\u8a31\u591a\u4fee\u6b63\u7684\u6642\u9593<\/p>\n<p>\u5373\u4f7f<span style=\"color: #ff0000;\">\u684c\u9762\u6b6a\u659c<\/span>\u4e86\uff0c<span style=\"color: #ff0000;\">\u6b63\u78ba\u7684BASE<\/span>\u8a2d\u5b9a\u4e5f\u53ef\u91cd\u65b0\u628a\u8def\u5f91<span style=\"color: #ff0000;\">\u4fee\u6b63<\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27.png\"><img loading=\"lazy\" class=\" wp-image-86316 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27.png\" alt=\"\" width=\"807\" height=\"376\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27.png 1330w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27-300x140.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27-1024x477.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27-768x357.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27-360x168.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27-1000x465.png 1000w\" sizes=\"(max-width: 807px) 100vw, 807px\" \/><\/a><\/p>\n<p>\u6b64\u5916\uff0c\u642d\u914d\u5167\u5efa\u8996\u89ba\u7cfb\u7d71\u6642\uff0cTM Landmark\u662f\u4e00\u500b\u76f8\u7576\u65b9\u4fbf\u7684\u5b9a\u4f4d\u5de5\u5177\u3002\u5275\u9020VISIONJOB NODE\u4e26\u57f7\u884c\uff0c\u624b\u81c2\u6703\u81ea\u52d5\u8fa8\u8b58TM Landmark\u4e26\u628a<span style=\"color: #ff0000;\">VisionBase<span style=\"color: #000000;\">\u66f4\u65b0\uff0c\u5373\u4f7fTM Landmark\u64fa\u5728\u6b6a\u659c\u7684\u4f4d\u7f6e\u3001\u4e00\u6a23\u53ef\u4ee5\u4fee\u6b63<\/span><\/span><\/p>\n<p><span style=\"color: #ff6600;\">\u7d30\u7bc0\u8acb\u53c3\u8003<strong><em>TMvision manual<\/em><\/strong> \u6216\u5728technical document\u4e2d\u641c\u5c0b <strong><em>UNDERSTANDING THE VISION BASE AND TCP<\/em><\/strong>\u00a0<\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28.png\"><img loading=\"lazy\" class=\"size-full wp-image-86329 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28.png\" alt=\"\" width=\"1375\" height=\"638\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28.png 1375w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28-300x139.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28-1024x475.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28-768x356.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28-360x167.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28-1000x464.png 1000w\" sizes=\"(max-width: 1375px) 100vw, 1375px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h3>Advantage2\u512a\u9ede2 &#8211; \u8def\u5f91\u8907\u88fd<\/h3>\n<p>\u627f\u4e4b\u524d\u7bc4\u4f8b\uff0c\u60a8\u53ef\u4ee5\u5c07<span style=\"color: #ff0000;\">\u684c\u97621<\/span>\u7684\u8def\u5f91<span style=\"color: #ff0000;\">\u8907\u88fd<\/span>\u5230<span style=\"color: #ff0000;\">\u684c\u97622<\/span>\u3001<span style=\"color: #ff0000;\">\u684c\u97623<\/span>&#8230;\u7b49\u7b49\u66f4\u591a\u4f4d\u7f6e\uff0c\u53ea\u9700\u6307\u5b9a\u4e0d\u540c\u7684BASE\u5373\u53ef<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/BASE2.gif\"><img loading=\"lazy\" class=\"size-full wp-image-86225 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/BASE2.gif\" alt=\"\" width=\"600\" height=\"338\" \/><\/a> <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-22.png\">\u00a0 \u00a0\u00a0<\/a><\/p>\n<p>&nbsp;<\/p>\n<p>\u60a8\u53ef\u4ee5\u8907\u88fdPOINT NODE\u4e26\u6307\u5b9a\u5230 <span style=\"color: #ff0000;\">BASE1<\/span>\u53ca<span style=\"color: #ff0000;\">BASE2<span style=\"color: #000000;\">\u3001\u6216\u8005\u66f4\u591aBASE\u4e0a<\/span><\/span><\/p>\n<p>\u4f7f\u7528\u6b64\u65b9\u6cd5\u53ef\u7701\u4e0b\u91cd\u65b0\u6559\u5c0e\u9ede\u4f4d\u7684\u6642\u9593\uff1b\u7576\u61c9\u7528\u4e2d\u6709<span style=\"color: #ff0000;\">\u591a\u500b\u91cd\u8907\u8def\u5f91<\/span>\u3001\u4f46<span style=\"color: #ff0000;\">\u4e0d\u540c\u4f4d\u7f6e(BASE)<\/span>\u6642\u5f88\u65b9\u4fbf<\/p>\n<p><img loading=\"lazy\" class=\"wp-image-86261 alignleft\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24.png\" alt=\"\" width=\"528\" height=\"375\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24.png 1115w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24-300x213.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24-1024x726.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24-768x545.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24-360x255.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24-1000x709.png 1000w\" sizes=\"(max-width: 528px) 100vw, 528px\" \/><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-22.png\"><img loading=\"lazy\" class=\"alignnone wp-image-86231\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-22.png\" alt=\"\" width=\"317\" height=\"294\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-22.png 442w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-22-300x278.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-22-360x333.png 360w\" sizes=\"(max-width: 317px) 100vw, 317px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h3>BASE &#8211; RobotBase, CustomBase, VisionBase<\/h3>\n<p><span style=\"color: #ff0000;\">BASE<\/span>\u5305\u62ec<span style=\"color: #ff0000;\">CustomBase<\/span>, <span style=\"color: #ff0000;\">VisionBase<\/span>, <span style=\"color: #ff0000;\">RobotBase<\/span><\/p>\n<p>CustomBase : \u5ba2\u6236\u4f7f\u7528\u7684BASE\uff0c\u53ef\u6709\u591a\u500b\u4e26\u81ea\u5b9a\u7fa9\u5167\u5bb9<\/p>\n<p>RobotBase : \u56fa\u5b9a\u5728\u624b\u81c2\u5e95\u5ea7\u7684BASE\uff0c\u4e0d\u53ef\u66f4\u6539\u4e14\u53ea\u6709\u4e00\u500b\uff1b\u9810\u8a2d\u7684BASE<\/p>\n<p>VisionBase : \u7576VisionJob\u5b58\u5728\u6642\u81ea\u52d5\u5275\u9020\u51fa\u4f86\u7684\uff0c\u53ef\u6709\u591a\u500b\u4e26\u81ea\u5b9a\u7fa9\u5167\u5bb9<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29.png\"><img loading=\"lazy\" class=\"size-full wp-image-86343 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29.png\" alt=\"\" width=\"1469\" height=\"612\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29.png 1469w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29-300x125.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29-1024x427.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29-768x320.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29-360x150.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29-1000x417.png 1000w\" sizes=\"(max-width: 1469px) 100vw, 1469px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3>\u5982\u4f55\u5b9a\u7fa9BASE?<\/h3>\n<ul>\n<li>\u5148\u8a2d\u5b9a\u6b63\u78baTCP<\/li>\n<li>\u5230\u00a0<strong><em>TMflow &gt; Menu &gt; Project &gt; Base Manager &gt; By pointing 3 points<\/em><\/strong> \u4f86\u5efa\u7acbBASE<\/li>\n<\/ul>\n<p><span style=\"color: #ff6600;\">\u66f4\u591a\u7d30\u7bc0\u8acb\u53c3\u8003 <strong><em>TMflow manual<\/em><\/strong><\/span><\/p>\n<p>&nbsp;<\/p>\n<p>\u4ee5\u4e0b\u662f\u5b9a\u7fa9\u4e00\u500bBASE <span style=\"color: #ff0000;\">Base1<\/span>\u7684\u7bc4\u4f8b\uff0c<span style=\"color: #ff0000;\"><span style=\"color: #000000;\">[X,Y,Z,Rx,Ry,Rz] = [300, 0, 300, 5.71, 0, 0]\uff0c\u6b64\u5ea7\u6a19\u53c3\u8003\u00a0<span style=\"color: #ff0000;\">RobotBase<span style=\"color: #000000;\">\u70ba\u539f\u9ede<\/span><\/span><\/span><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-86374\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31.png\" alt=\"\" width=\"1402\" height=\"568\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31.png 1402w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31-300x122.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31-1024x415.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31-768x311.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31-360x146.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31-1000x405.png 1000w\" sizes=\"(max-width: 1402px) 100vw, 1402px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h2>\u7e3d\u7d50<\/h2>\n<ul>\n<li>\u5275\u9020\u65b0\u5c08\u6848\u524d\uff0c\u9700\u5148\u5b9a\u7fa9\u6b63\u78ba\u7684TCP\u8207BASE<\/li>\n<li>\u5584\u7528TM Landmark\u5c07\u53ef\u63d0\u5347\u8996\u89ba\u5b9a\u4f4d\u7684\u4fbf\u5229\u6027<\/li>\n<li>\u6bcf\u6b21\u5275\u9020\u9ede\u4f4d(POINT NODE)\u6642\uff0c\u624b\u81c2\u6703\u8a18\u9304<span style=\"color: #ff0000;\">\u7576\u4e0b\u7684\u5ea7\u6a19<\/span>\u3001\u53c3\u8003<span style=\"color: #ff0000;\">\u7576\u4e0b\u7684BASE\u8207TCP<\/span><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-86380\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32.png\" alt=\"\" width=\"1159\" height=\"577\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32.png 1159w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32-300x149.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32-1024x510.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32-768x382.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32-360x179.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32-1000x498.png 1000w\" sizes=\"(max-width: 1159px) 100vw, 1159px\" \/><\/a><\/li>\n<\/ul>\n<h2>Q&amp;A<\/h2>\n<h3>\u6211\u5df2\u7d93\u6b63\u78ba\u6821\u6b63TCP\u8207BASE\uff0c\u70ba\u4f55\u6211\u5f9e\u5225\u53f0\u624b\u81c2\u8907\u88fd\u5c08\u6848\u5230\u4e0d\u540c\u624b\u81c2\u6642\uff0c\u9ede\u4f4d\u9084\u662f\u6709\u4e9b\u504f\u5dee?<\/h3>\n<p>\u4f7f\u7528\u624b\u81c2\u524d\u9700\u5148\u505a\u591a\u7a2e\u6821\u6b63(EIH\u624b\u773c\u6821\u6b63\u3001\u624b\u81c2DH\u6821\u6b63\u7b49\u7b49)\uff0c\u4f46\u5373\u4f7f\u6240\u6709\u6821\u6b63\u90fd\u505a\u5b8c\uff0c\u4ecd\u6709\u53ef\u80fd\u6703\u6709\u4e00\u4e9b\u504f\u5dee(\u5728\u67d0\u4e9b\u6848\u4f8b\u4e2d\u3001\u8f03\u9060\u8ddd\u96e2\u7684\u60c5\u6cc1\u53ef\u80fd\u5dee\u5230\u6578mm)\uff0c\u539f\u56e0\u4f86\u81ea :<\/p>\n<ul>\n<li>TCP \u6821\u6b63\u6642\u7684\u8aa4\u5dee<\/li>\n<li>DH\u6821\u6b63\u6642\u7684\u8aa4\u5dee<\/li>\n<li>\u8996\u89ba\u7cfb\u7d71\u6821\u6b63\u6642\u7684\u8aa4\u5dee<\/li>\n<li>\u6a5f\u69cb\u7d44\u88dd\u5de5\u5dee<\/li>\n<li>&#8230;<\/li>\n<\/ul>\n<p>\u7576\u6b63\u78ba\u4f7f\u7528BASE\u8207TCP\u6642\uff0c\u53ef\u4ee5\u964d\u4f4e\u8907\u88fd\u5230\u4e0d\u540c\u624b\u81c2\u7684\u6642\u9593\uff0c\u4f46\u7121\u6cd5\u5b8c\u5168\u6d88\u9664\u3002\u82e5\u9700\u8981\u66f4\u7cbe\u6e96\u7684\u9ede\u4f4d(\u59820.5mm\u4ee5\u5167)\uff0c\u5efa\u8b70\u5728\u8a72\u9ede\u4e0a\u91cd\u65b0\u6559\u5c0e\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u6211\u53ef\u4ee5\u5728\u4e0d\u4f7f\u7528 TCP\u8207BASE\u7684\u60c5\u6cc1\u4e0b\u64cd\u4f5c\u6a5f\u5668\u4eba\u55ce?<\/h3>\n<p>\u7576\u7136\u53ef\u4ee5\uff0c\u5be6\u969b\u4e0a\u60a8\u6b63\u5728\u4f7f\u7528TCP <span style=\"color: #ff0000;\">NOTOOL<\/span>(\u5728\u624b\u81c2\u6cd5\u862d\u4e0a)\u53ca<span style=\"color: #ff0000;\">RobotBase<span style=\"color: #000000;\">(\u5728\u624b\u81c2\u5e95\u5ea7\u4e0a)<\/span><\/span><\/p>\n<p>\u4f7f\u7528\u6b63\u78ba\u7684TCP\u8207\u5426\uff0c\u7576\u624b\u81c2\u5728\u904b\u4f5c\u6642\u53ef\u80fd\u7121\u6cd5\u67e5\u89ba\uff1b\u4f46\u82e5\u4f7f\u7528NOTOOL\u4e14\u672a\u4f86\u60a8\u60f3\u4fee\u6539TCP\u9577\u5ea6\uff0c\u5247\u9700\u8981\u91cd\u65b0\u6559\u5c0e\u6240\u6709\u9ede\u4f4d<\/p>\n<p><span style=\"color: #000000;\">\u70ba\u4e86\u907f\u514d\u6b64\u72c0\u6cc1\uff0c\u5efa\u8b70\u4e00\u958b\u59cb\u5c31\u4f7f\u7528\u5c0d\u7684TCP\u8207BASE\uff1b\u82e5\u672a\u4f86\u6709\u5927\u91cf\u9ede\u4f4d\u9700\u4fee\u6b63\u7684\u60c5\u6cc1\uff0c\u5247\u6703\u65b9\u4fbf\u8a31\u591a\uff0c\u800c\u4e0d\u7528\u6bcf\u500b\u9ede\u4f4d\u91cd\u65b0\u6559\u5c0e<\/span><\/p>\n<p>&nbsp;<\/p>\n<p>\u4ee5\u4e0b\u662f\u7bc4\u4f8b\uff0cNOTOOL\u8207MyTCP1\u5728\u5169\u6b21\u8def\u5f91\u79fb\u52d5\u4e2d\u770b\u4e0d\u51fa\u5dee\u7570\uff0c\u4f46\u5be6\u969b\u4e0a\u624b\u81c2\u7cfb\u7d71\u8a18\u9304\u7684\u4f4d\u7f6e\u662f\u4e0d\u6b63\u78ba\u7684<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP5.gif\"><img loading=\"lazy\" class=\"alignnone wp-image-86416\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP5.gif\" alt=\"\" width=\"414\" height=\"233\" \/><\/a><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-35.png\"><img loading=\"lazy\" class=\"alignnone wp-image-86422\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-35.png\" alt=\"\" width=\"357\" height=\"255\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-35.png 757w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-35-300x214.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-35-360x257.png 360w\" sizes=\"(max-width: 357px) 100vw, 357px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3>\u5982\u4f55\u5207\u63dbTCP\u8207BASE?<\/h3>\n<p>\u5728\u624b\u52d5\u6a21\u5f0f\u4e0b\uff0c\u9078\u64c7\u60a8\u60f3\u8981\u7684<span style=\"color: #ff0000;\">BASE<\/span>\u8207<span style=\"color: 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