UR机器人脚本手册 SW5.10 版

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The URScript Programming Language G5 脚本文件_scriptManual_SW5.10_en UR机器人官方脚本文件 2021年更新比较详细相对中文版比较内容丰富

4.Matrix and Array Expressions

Matrix and array operations can be assigned to a variable to store and manipulate multiple numbers at

the same time. It is also possible to get access and write to a single entry of the matrix. The matrix and

array are 0-indexed.

array = [1,2,3,4,5]

a = array[0]

array[2] = 10

matrix = [[1,2],[3,4],[5,6]]

b = matrix[0,0]

matrix[2,1] = 20

Matrix and array can bemanipulated bymatrix-matrix, array-array,matrix-array,matrixscalar and array-

scalar operations.

Matrix-matrix multiplication operations are supported if the first matrix’s number of columns matches

the second matrix’s number of rows. The resulting matrix will have the dimensions of the first matrix

number of rows and the second matrix number of columns.

C = [[1,2],[3,4],[5,6]] * [[10,20,30],[40,50,60]]

Matrix-array multiplication operations are supported if the matrix is the first operand and array is

second. If the matrix’s number of columns matches the arrays length, the resulting array will have the

length as the matrix number of rows.

C = [[1,2],[3,4],[5,6]] * [10,20]

Array-array operations are possible if both arrays are of the same length and supports: addition,

subtraction, multiplication, division and modulo operations. The operation is executed index by index on

both arrays and thus results in an array of the same length. E.g. a[i] b[i] = c[i].

mul = [1,2,3] * [10,20,30]

div = [10,20,30] / [1,2,3]

add = [1,2,3] + [10,20,30]

sub = [10,20,30] - [1,2,3]

mod = [10,20,30] % [1,2,3]

Scalar operations on a matrix or an array are possible. They support addition, subtraction,

multiplication, division and modulo operations. The scalar operations are done on all the entries of the

matrix or the array. E.g. a[i] + b = c[i]

mul1 = [1,2,3] * 5

mul2 = 5 * [[1,2],[3,4],[5,6]]

div1 = [10,20,30] / 10

div2 = 10 / [10,20,30]

e-Series 4 Script Manual

4.Matrix and Array Expressions

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