在robodk中用Python实现将五个小球用吸盘工具分五次从初始基底上的初始点移动到目标基底上的目标点，需要用到预抓取点等

这个任务可以分为以下几个步骤：

1. 定义机器人和工具

首先需要定义机器人和工具（吸盘），可以在RoboDK软件中创建一个机器人（例如ABB IRB 120）和一个吸盘工具，然后将它们导入到Python脚本中。

from robolink import *
from robodk import *
RDK = Robolink()

# Load the robot and tool from RoboDK station
robot = RDK.Item('ABB IRB 120', ITEM_TYPE_ROBOT)
tool = RDK.Item('Suction Cup', ITEM_TYPE_TOOL)

2. 定义初始和目标基底

定义初始和目标基底的位置和姿态，可以在RoboDK软件中创建两个基底，然后将它们导入到Python脚本中。

# Load the initial and target bases from RoboDK station
initial_base = RDK.Item('Initial Base', ITEM_TYPE_FRAME)
target_base = RDK.Item('Target Base', ITEM_TYPE_FRAME)

3. 定义小球模型

在RoboDK软件中导入五个小球的模型，然后将它们导入到Python脚本中。

# Load the ball models from RoboDK station
ball1 = RDK.Item('Ball 1', ITEM_TYPE_OBJECT)
ball2 = RDK.Item('Ball 2', ITEM_TYPE_OBJECT)
ball3 = RDK.Item('Ball 3', ITEM_TYPE_OBJECT)
ball4 = RDK.Item('Ball 4', ITEM_TYPE_OBJECT)
ball5 = RDK.Item('Ball 5', ITEM_TYPE_OBJECT)

4. 定义预抓取点和抓取点

定义每个小球的预抓取点和抓取点，预抓取点是机器人在抓取小球之前的位置，抓取点是机器人抓住小球的位置。

# Define the pregrasp and grasp positions for each ball
pregrasp1 = initial_base.Pose() * transl(100,0,0) * rotx(pi/2)
grasp1 = initial_base.Pose() * transl(100,0,50) * rotx(pi/2)

pregrasp2 = initial_base.Pose() * transl(0,-100,0) * rotx(pi/2)
grasp2 = initial_base.Pose() * transl(0,-100,50) * rotx(pi/2)

pregrasp3 = initial_base.Pose() * transl(-100,0,0) * rotx(pi/2)
grasp3 = initial_base.Pose() * transl(-100,0,50) * rotx(pi/2)

pregrasp4 = initial_base.Pose() * transl(0,100,0) * rotx(pi/2)
grasp4 = initial_base.Pose() * transl(0,100,50) * rotx(pi/2)

pregrasp5 = initial_base.Pose() * transl(100,100,0) * rotx(pi/2)
grasp5 = initial_base.Pose() * transl(100,100,50) * rotx(pi/2)

5. 移动机器人到预抓取点

将机器人移动到每个小球的预抓取点。

# Move the robot to the pregrasp position for ball 1
robot.MoveJ(pregrasp1)

# Move the robot to the pregrasp position for ball 2
robot.MoveJ(pregrasp2)

# Move the robot to the pregrasp position for ball 3
robot.MoveJ(pregrasp3)

# Move the robot to the pregrasp position for ball 4
robot.MoveJ(pregrasp4)

# Move the robot to the pregrasp position for ball 5
robot.MoveJ(pregrasp5)

6. 吸取小球

将机器人的工具（吸盘）放置在每个小球的抓取点，然后吸取小球。

# Attach the tool to the robot at the grasp position for ball 1
robot.setPoseFrame(tool)
robot.MoveJ(grasp1)
robot.AttachClosest()

# Attach the tool to the robot at the grasp position for ball 2
robot.setPoseFrame(tool)
robot.MoveJ(grasp2)
robot.AttachClosest()

# Attach the tool to the robot at the grasp position for ball 3
robot.setPoseFrame(tool)
robot.MoveJ(grasp3)
robot.AttachClosest()

# Attach the tool to the robot at the grasp position for ball 4
robot.setPoseFrame(tool)
robot.MoveJ(grasp4)
robot.AttachClosest()

# Attach the tool to the robot at the grasp position for ball 5
robot.setPoseFrame(tool)
robot.MoveJ(grasp5)
robot.AttachClosest()

7. 移动机器人到目标基底

将机器人移动到目标基底的位置，然后将小球放置在目标基底上的目标点。

# Move the robot to the target base position
robot.MoveJ(target_base.Pose())

# Place the ball on the target base at the target point for ball 1
robot.setPoseFrame(ball1)
robot.MoveL(target_base.Pose() * transl(0,0,50))
robot.DetachAll()

# Place the ball on the target base at the target point for ball 2
robot.setPoseFrame(ball2)
robot.MoveL(target_base.Pose() * transl(0,0,50))
robot.DetachAll()

# Place the ball on the target base at the target point for ball 3
robot.setPoseFrame(ball3)
robot.MoveL(target_base.Pose() * transl(0,0,50))
robot.DetachAll()

# Place the ball on the target base at the target point for ball 4
robot.setPoseFrame(ball4)
robot.MoveL(target_base.Pose() * transl(0,0,50))
robot.DetachAll()

# Place the ball on the target base at the target point for ball 5
robot.setPoseFrame(ball5)
robot.MoveL(target_base.Pose() * transl(0,0,50))
robot.DetachAll()

完整的代码如下：

from robolink import *
from robodk import *
RDK = Robolink()

# Load the robot and tool from RoboDK station
robot = RDK.Item('ABB IRB 120', ITEM_TYPE_ROBOT)
tool = RDK.Item('Suction Cup', ITEM_TYPE_TOOL)

# Load the initial and target bases from RoboDK station
initial_base = RDK.Item('Initial Base', ITEM_TYPE_FRAME)
target_base = RDK.Item('Target Base', ITEM_TYPE_FRAME)

# Load the ball models from RoboDK station
ball1 = RDK.Item('Ball 1', ITEM_TYPE_OBJECT)
ball2 = RDK.Item('Ball 2', ITEM_TYPE_OBJECT)
ball3 = RDK.Item('Ball 3', ITEM_TYPE_OBJECT)
ball4 = RDK.Item('Ball 4', ITEM_TYPE_OBJECT)
ball5 = RDK.Item('Ball 5', ITEM_TYPE_OBJECT)

# Define the pregrasp and grasp positions for each ball
pregrasp1 = initial_base.Pose() * transl(100,0,0) * rotx(pi/2)
grasp1 = initial_base.Pose() * transl(100,0,50) * rotx(pi/2)

pregrasp2 = initial_base.Pose() * transl(0,-100,0) * rotx(pi/2)
grasp2 = initial_base.Pose() * transl(0,-100,50) * rotx(pi/2)

pregrasp3 = initial_base.Pose() * transl(-100,0,0) * rotx(pi/2)
grasp3 = initial_base.Pose() * transl(-100,0,50) * rotx(pi/2)

pregrasp4 = initial_base.Pose() * transl(0,100,0) * rotx(pi/2)
grasp4 = initial_base.Pose() * transl(0,100,50) * rotx(pi/2)

pregrasp5 = initial_base.Pose() * transl(100,100,0) * rotx(pi/2)
grasp5 = initial_base.Pose() * transl(100,100,50) * rotx(pi/2)

# Move the robot to the pregrasp position for each ball
robot.MoveJ(pregrasp1)
robot.MoveJ(pregrasp2)
robot.MoveJ(pregrasp3)
robot.MoveJ(pregrasp4)
robot.MoveJ(pregrasp5)

# Attach the tool to the robot and pick up each ball
robot.setPoseFrame(tool)
robot.MoveJ(grasp1)
robot.AttachClosest()

robot.setPoseFrame(tool)
robot.MoveJ(grasp2)
robot.AttachClosest()

robot.setPoseFrame(tool)
robot.MoveJ(grasp3)
robot.AttachClosest()

robot.setPoseFrame(tool)
robot.MoveJ(grasp4)
robot.AttachClosest()

robot.setPoseFrame(tool)
robot.MoveJ(grasp5)
robot.AttachClosest()

# Move the robot to the target base and place each ball on it
robot.MoveJ(target_base.Pose())

robot.setPoseFrame(ball1)
robot.MoveL(target_base.Pose() * transl(0,0,50))
robot.DetachAll()

robot.setPoseFrame(ball2)
robot.MoveL(target_base.Pose() * transl(0,0,50))
robot.DetachAll()

robot.setPoseFrame(ball3)
robot.MoveL(target_base.Pose() * transl(0,0,50))
robot.DetachAll()

robot.setPoseFrame(ball4)
robot.MoveL(target_base.Pose() * transl(0,0,50))
robot.DetachAll()

robot.setPoseFrame(ball5)
robot.MoveL(target_base.Pose() * transl(0,0,50))
robot.DetachAll()