机器人自我诊断流程
拿到机器人并激活系统后，会在arcs机器人软件安装目录内包含几个可作为诊断机器人良好状态的工具，以下详细介绍这些工具的使用方法和诊断方式。
1. 确认接口板类型
操作系统安装arcs软件包后，在安全目录下会自动部署接口板搜索工具
工具名称： ifacebrd_search
工具路径： /opt/arcs/0.28.1-rc.27/bin
工具使用方法： ./ifacebrd_search
说明： 运行接口板搜索工具后，会自动修改位于/root/arcs_ws/config/之下的aubo_control.conf中 hw字段，保证给arcs系统配置正确的硬件抽象层
期望： 能够确认或者修正配置文件中硬件抽象层可能的的错误配置
标准测试结果：
root@aubo-174316638:/opt/arcs/0.28.1-rc.34/bin# ./ifacebrd_search
1703054643.450626 [INFO ] robot_hw.cpp:3410 Search interfaceboard over enp1s0 ...
1703054643.451866 [DEBUG] pcap_driver.cpp:49 tstamp_type: 0 host
1703054643.487057 [INFO ] pcap_driver.cpp:182 Get mac address of enp1s0(4): CC:82:7F:22:65:D7
1703054643.588246 [WARN ] robot_hw.cpp:3450 Found interfaceboard enp1s0 TIMEOUT
1703054643.644956 [INFO ] robot_hw.cpp:3410 Search interfaceboard over enp2s0 ...
1703054643.646201 [DEBUG] pcap_driver.cpp:49 tstamp_type: 0 host
1703054643.682499 [INFO ] pcap_driver.cpp:182 Get mac address of enp2s0(4): CC:82:7F:22:65:D8
1703054643.683060 [INFO ] rtlink.c:737 Echo...
1703054643.683084 [INFO ] robot_hw.cpp:3447 Found interfaceboard enp2s0
[INFO] Search a valid interface board at enp2s0 # 这里表示在网卡enp2s0上找到一个可用的接口板
# 同时程序后台会按照接口板类型修正配置文件中硬件抽象层的配置
2. 机器人诊断: 基础上下电、刹车和摩擦力参数确认
工具名称： diagnose
工具路径： /opt/arcs/0.28.1-rc.27/bin
工具使用方法： ./diagnose
说明：执行工具后，机器人会自动上电、使能和松刹车等操作，然后会将机器人的一部分基础信息打印到终端中。
标准测试结果：
root@aubo-174316638:/opt/arcs/0.28.1-rc.34/bin# ./diagnose
# 此处隐藏了上电部分的日常日志
12-20 14:49:43.502[INFO] main.cpp:278
# 这里显示各节点的当前固件版本信息
12-20 14:49:43.502[INFO] main.cpp:279 MasterBoard FW Version: 1.0.12
12-20 14:49:43.502[INFO] main.cpp:280 MasterBoard HW Version: 1.0.0
12-20 14:49:43.503[INFO] main.cpp:282 SlaveBoard FW Version: 1.0.12
12-20 14:49:43.503[INFO] main.cpp:283 SlaveBoard HW Version: 0.22.120
12-20 14:49:43.503[INFO] main.cpp:285 Joint FW Version: 1.0.19, 1.0.19, 1.0.21, 1.0.21, 1.0.21, 1.0.21
12-20 14:49:43.503[INFO] main.cpp:286 Joint HW Version: 4.2.0, 4.2.0, 4.2.0, 4.2.0, 4.2.0, 4.2.0
12-20 14:49:43.503[INFO] main.cpp:288 Tool FW version: 1.1.8
12-20 14:49:43.503[INFO] main.cpp:289 Tool HW version: 3.21.0
12-20 14:49:43.503[INFO] main.cpp:291 Pedestal FW version: 1.0.7
12-20 14:49:43.503[INFO] main.cpp:292 Pedestal HW version: 1.0.0
12-20 14:49:43.503[INFO] main.cpp:294 RobotType: aubo_C3
12-20 14:49:43.503[INFO] main.cpp:295 Joint num: 6
12-20 14:49:43.503[INFO] main.cpp:296 Gravity: -2.45424, -0.345128, -9.48143
12-20 14:49:43.503[INFO] main.cpp:298 min_q: -6.28319, -6.28319, -6.28319, -6.28319, -6.28319, -6.28319
12-20 14:49:43.503[INFO] main.cpp:299 max_q: 6.28319, 6.28319, 6.28319, 6.28319, 6.28319, 6.28319
12-20 14:49:43.504[INFO] main.cpp:300 max_qd: 5.41847, 5.40603, 5.42158, 5.36767, 5.35211, 4.14732
12-20 14:49:43.504[INFO] main.cpp:301 max_qdd: 10.3683, 10.3683, 10.3683, 10.3683, 10.3683, 10.3683
12-20 14:49:43.504[INFO] main.cpp:302 max_cur: 0.160217
# 在此处确认动力学参数
12-20 14:49:43.504[INFO] robot_hw.cpp:3219 Dynamics Params: 0,3.2573,-5.2e-05,0.006033,-0.051192,0.006533,1e-06,3e-06,0.006441,-3.6e-05,0.003874,6.11685,0.696862,-3.7e-05,-0.039295,0.010251,2.2e-05,0.004263,0.185967,3e-06,0.182273,2.35152,0.472927,-8.5e-05,0.220161,0.023373,2e-05,-0.043977,0.138088,1.2e-05,0.116666,1.62802,6.2e-05,0.018361,-0.002506,0.002162,2e-06,1e-06,0.001158,-1.4e-05,0.002138,1.62802,-6.2e-05,-0.018361,-0.002506,0.002162,2e-06,-1e-06,0.001158,1.4e-05,0.002138,0.1978,4e-06,0.000119,-0.003379,0.000176,-0,0,0.00017,3e-06,0.000184
12-20 14:49:43.504[INFO] main.cpp:303 Dynamics Params: 0, 3.2573, -5.2e-05, 0.006033, -0.051192, 0.006533, 1e-06, 3e-06, 0.006441, -3.6e-05, 0.003874, 6.11685, 0.696862, -3.7e-05, -0.039295, 0.010251, 2.2e-05, 0.004263, 0.185967, 3e-06, 0.182273, 2.35152, 0.472927, -8.5e-05, 0.220161, 0.023373, 2e-05, -0.043977, 0.138088, 1.2e-05, 0.116666, 1.62802, 6.2e-05, 0.018361, -0.002506, 0.002162, 2e-06, 1e-06, 0.001158, -1.4e-05, 0.002138, 1.62802, -6.2e-05, -0.018361, -0.002506, 0.002162, 2e-06, -1e-06, 0.001158, 1.4e-05, 0.002138, 0.1978, 4e-06, 0.000119, -0.003379, 0.000176, -0, 0, 0.00017, 3e-06, 0.000184
# 在此处确认力矩系数
12-20 14:49:43.504[INFO] main.cpp:304 Torque Constants: 8.58, 8.58, 8.81, 7.236, 7.236, 7.236
# 在此处确认摩擦力参数
12-20 14:49:43.505[INFO] robot_hw.cpp:2459 getCustomParameters request:joint_friction_params result:[{"Fc":0.6546000242233276,"Fs":0.8065000176429749,"Ft1":1.0,"Ft2":-0.02249000035226345,"Ft3":2000.0,"Fv0":0.003387999953702092,"Fv1":0.8593000173568726,"Fv2":0.16920000314712524,"Fv3":0.016279999166727066,"Vs":0.07964000105857849,"c1":0.0,"c2":0.0,"constant":8.58,"frac":0.800000011920929,"miu":2.5,"mode":0.0,"pre_friction":0.0},{"Fc":0.6546000242233276,"Fs":0.8065000176429749,"Ft1":1.0,"Ft2":-0.02249000035226345,"Ft3":2000.0,"Fv0":0.003387999953702092,"Fv1":0.8593000173568726,"Fv2":0.16920000314712524,"Fv3":0.016279999166727066,"Vs":0.07964000105857849,"c1":0.0,"c2":0.0,"constant":8.58,"frac":0.800000011920929,"miu":2.5,"mode":0.0,"pre_friction":0.0},{"Fc":0.6837999820709229,"Fs":0.7529000043869019,"Ft1":0.8083999752998352,"Ft2":-0.01735999993979931,"Ft3":500.0,"Fv0":0.014530000276863575,"Fv1":0.628000020980835,"Fv2":0.10090000182390213,"Fv3":0.007675999775528908,"Vs":0.018149999901652336,"c1":0.0,"c2":0.0,"constant":8.81,"frac":0.800000011920929,"miu":2.5,"mode":6.152978242585411e-39,"pre_friction":0.0},{"Fc":0.30000001192092896,"Fs":0.5,"Ft1":0.4666999876499176,"Ft2":-0.010610000230371952,"Ft3":1019.0,"Fv0":-0.024900000542402267,"Fv1":0.43050000071525574,"Fv2":0.13539999723434448,"Fv3":0.017559999600052834,"Vs":0.10000000149011612,"c1":0.0,"c2":0.0,"constant":7.236,"frac":0.800000011920929,"miu":1.0,"mode":6.152978242585411e-39,"pre_friction":0.0},{"Fc":0.30000001192092896,"Fs":0.4020000100135803,"Ft1":0.4375,"Ft2":-0.00973500031977892,"Ft3":500.0,"Fv0":-0.00938399974256754,"Fv1":0.35280001163482666,"Fv2":0.07412999868392944,"Fv3":0.00763599993661046,"Vs":0.10000000149011612,"c1":0.0,"c2":0.0,"constant":7.236,"frac":0.800000011920929,"miu":1.0,"mode":6.152978242585411e-39,"pre_friction":0.0},{"Fc":0.25,"Fs":0.47325998544692993,"Ft1":0.436957985162735,"Ft2":-0.010836999863386154,"Ft3":778.15869140625,"Fv0":0.012849000282585621,"Fv1":0.6252059936523438,"Fv2":0.23473699390888214,"Fv3":0.03214599937200546,"Vs":0.10000000149011612,"c1":0.0,"c2":0.0,"constant":7.236,"frac":0.0,"miu":1.0,"mode":0.0,"pre_friction":0.0}]
12-20 14:49:43.505[INFO] main.cpp:322 Friction params:
Fc: 0.6546,0.6546,0.6838,0.3,0.3,0.25,
Fs: 0.8065,0.8065,0.7529,0.5,0.402,0.47326,
Ft1: 1,1,0.8084,0.4667,0.4375,0.436958,
Ft2: -0.02249,-0.02249,-0.01736,-0.01061,-0.009735,-0.010837,
Ft3: 2000,2000,500,1019,500,778.159,
Fv0: 0.003388,0.003388,0.01453,-0.0249,-0.009384,0.012849,
Fv1: 0.8593,0.8593,0.628,0.4305,0.3528,0.625206,
Fv2: 0.1692,0.1692,0.1009,0.1354,0.07413,0.234737,
Fv3: 0.01628,0.01628,0.007676,0.01756,0.007636,0.032146,
Vs: 0.07964,0.07964,0.01815,0.1,0.1,0.1,
c1: 0,0,0,0,0,0,
c2: 0,0,0,0,0,0,
constant: 8.58,8.58,8.81,7.236,7.236,7.236,
frac: 0.8,0.8,0.8,0.8,0.8,0,
miu: 2.5,2.5,2.5,1,1,1,
mode: 0,0,6.15298e-39,6.15298e-39,6.15298e-39,0,
pre_friction: 0,0,0,0,0,0,
# 这里显示各个节点的uuid信息，可作为产品追溯使用
12-20 14:49:43.505[INFO] main.cpp:328 joint uuid: 00390036500f4e3035362035, 004e0025500f413335322035, 35254d483837043634594c30, 235c5448383315353551324d, 3c98314a3730013430414750, 096c314a3730013430414750
12-20 14:49:43.505[INFO] main.cpp:329 tool uuid: ff4806728883545310346707
12-20 14:49:43.505[INFO] main.cpp:330 base uuid: 547b314a3630043730573750
12-20 14:49:43.505[INFO] main.cpp:331 master uuid: 003d001b5116333032393735
12-20 14:49:43.506[INFO] main.cpp:332 slave uuid: 7fd90000da98005800000000
12-20 14:49:43.506[INFO] main.cpp:378 Safety Input: SI00 0 SI10 0
12-20 14:49:43.506[INFO] main.cpp:379 Safety Input: SI01 0 SI11 0
12-20 14:49:43.506[INFO] main.cpp:380 Safety Input: SI02 0 SI12 0
12-20 14:49:43.506[INFO] main.cpp:381 Safety Input: SI03 0 SI13 0
12-20 14:49:43.506[INFO] main.cpp:382 Safety Input: SI04 0 SI14 0
12-20 14:49:43.506[INFO] main.cpp:383 Safety Input: SI05 0 SI15 0
12-20 14:49:43.506[INFO] main.cpp:384 Safety Input: SI06 0 SI16 0
12-20 14:49:43.506[INFO] main.cpp:385 Safety Input: SI07 0 SI17 0
12-20 14:49:43.506[INFO] main.cpp:387 Safety output: SO00 0 SO10 0
12-20 14:49:43.506[INFO] main.cpp:388 Safety output: SO01 0 SO11 0
12-20 14:49:43.506[INFO] main.cpp:389 Safety output: SO02 0 SO12 0
12-20 14:49:43.506[INFO] main.cpp:390 Safety output: SO03 0 SO13 0
12-20 14:49:43.506[INFO] main.cpp:391 Safety output: SO04 0 SO14 0
12-20 14:49:43.506[INFO] main.cpp:392 Safety output: SO05 0 SO15 0
12-20 14:49:43.506[INFO] main.cpp:393 Safety output: SO06 0 SO16 0
12-20 14:49:43.506[INFO] main.cpp:394 Safety output: SO07 0 SO17 0
12-20 14:49:43.507[INFO] main.cpp:396 Linkage Input: CI00 0 CI10 0
12-20 14:49:43.507[INFO] main.cpp:397 Linkage Input: CI01 0 CI11 0
12-20 14:49:43.507[INFO] main.cpp:398 Linkage Input: CI02 0 CI12 0
12-20 14:49:43.507[INFO] main.cpp:399 Linkage Input: CI03 0 CI13 0
12-20 14:49:43.507[INFO] main.cpp:400 Linkage Input: LI00 0 LI01 0
12-20 14:49:43.507[INFO] main.cpp:401 Linkage Input: LI02 0 LI03 0
12-20 14:49:43.507[INFO] main.cpp:402 Linkage Input: LI04 0 LI05 0
12-20 14:49:43.507[INFO] main.cpp:403 Linkage Input: F1 0 F2 0
12-20 14:49:43.507[INFO] main.cpp:404 Linkage Input: F3 0 F4 0
12-20 14:49:43.507[INFO] main.cpp:405 Linkage Input: F5 0 F6 0
12-20 14:49:43.507[INFO] main.cpp:407 Linkage output: CO00 0 CO10 0
12-20 14:49:43.507[INFO] main.cpp:408 Linkage output: CO01 0 CO11 0
12-20 14:49:43.507[INFO] main.cpp:409 Linkage output: CO02 0 CO12 0
12-20 14:49:43.507[INFO] main.cpp:410 Linkage output: CO03 0 CO13 0
12-20 14:49:43.507[INFO] main.cpp:411 Linkage output: LO00 0 LO01 0
12-20 14:49:43.507[INFO] main.cpp:412 Linkage output: LO02 0 LO03 0
12-20 14:49:43.508[INFO] main.cpp:414 Standard Input: DI00 0 DI10 0
12-20 14:49:43.508[INFO] main.cpp:415 Standard Input: DI01 0 DI11 0
12-20 14:49:43.508[INFO] main.cpp:416 Standard Input: DI02 0 DI12 0
12-20 14:49:43.508[INFO] main.cpp:417 Standard Input: DI03 0 DI13 0
12-20 14:49:43.508[INFO] main.cpp:418 Standard Input: DI04 0 DI14 0
12-20 14:49:43.508[INFO] main.cpp:419 Standard Input: DI05 0 DI15 0
12-20 14:49:43.508[INFO] main.cpp:420 Standard Input: DI06 0 DI16 0
12-20 14:49:43.508[INFO] main.cpp:421 Standard Input: DI07 0 DI17 0
12-20 14:49:43.508[INFO] main.cpp:423 Standard output: DO00 0 DO10 0
12-20 14:49:43.508[INFO] main.cpp:424 Standard output: DO01 0 DO11 0
12-20 14:49:43.508[INFO] main.cpp:425 Standard output: DO02 0 DO12 0
12-20 14:49:43.508[INFO] main.cpp:426 Standard output: DO03 0 DO13 0
12-20 14:49:43.508[INFO] main.cpp:427 Standard output: DO04 0 DO14 0
12-20 14:49:43.508[INFO] main.cpp:428 Standard output: DO05 0 DO15 0
12-20 14:49:43.508[INFO] main.cpp:429 Standard output: DO06 0 DO16 0
12-20 14:49:43.508[INFO] main.cpp:430 Standard output: DO07 0 DO17 0
12-20 14:49:43.509[INFO] main.cpp:432 Safety Input: 0
12-20 14:49:43.509[INFO] main.cpp:433 Safety Output: 0
12-20 14:49:43.509[INFO] main.cpp:435 Linkage Input: 0
12-20 14:49:43.509[INFO] main.cpp:436 Linkage Output: 0
12-20 14:49:43.509[INFO] main.cpp:438 Standard Input: 0
12-20 14:49:43.509[INFO] main.cpp:439 Standard Output: 0
12-20 14:49:43.509[INFO] main.cpp:441 Tool digital io num: 4
12-20 14:49:43.509[INFO] main.cpp:442 Tool digital io status: 0, 0, 0, 0
12-20 14:49:43.509[INFO] main.cpp:443 Tool digital io direction: 1, 1, 1, 1
12-20 14:49:43.509[INFO] main.cpp:444 Tool voltage output: 0
12-20 14:49:43.509[INFO] main.cpp:446 Tool Analog Input Num: 2
12-20 14:49:43.509[INFO] main.cpp:447 Tool Analog Output Num: 0
12-20 14:49:43.509[INFO] main.cpp:448 Tool Analog Inputs: 0, 0
12-20 14:49:43.509[INFO] main.cpp:449 Tool Analog Outputs: <none>
12-20 14:49:43.509[INFO] main.cpp:454 --FINISHED
3. 机器人运动测试
工具名称： movej
工具路径： /opt/arcs/0.28.1-rc.27/bin
工具使用方法： ./movej j1 j2 j3 j4 j5 j6 # 六个关节的目标位置单位为角度
标准测试结果：
# 注： 中间省略了大部分上电的日常日志
root@aubo-174316638:/opt/arcs/0.28.1-rc.34/bin # ./movej 60 60 60 60 60 60 # 运动到0位可不输入角度参数
12-20 19:29:08.569[INFO] main.cpp:88 movej to 1.0472, 1.0472, 1.0472, 1.0472, 1.0472, 1.0472
12-20 19:29:08.656[INFO] main.cpp:137 config: tool_force_type = 1
12-20 19:29:08.672[INFO] robot_hw.cpp:899 Connect to master board...
12-20 19:29:11.107[INFO] robot_hw.cpp:976 Connected to InterfaceBoard succeed
12-20 19:29:11.177[INFO] robot_hw.cpp:1038 Power on robot...
12-20 19:29:16.197[INFO] robot_hw.cpp:1051 Power on robot SUCCEED.
12-20 19:29:21.197[INFO] robot_hw.cpp:1092 bringup robot...
12-20 19:29:39.712[INFO] robot_hw.cpp:1629 Start enable joint servos...
12-20 19:29:39.757[INFO] robot_hw.cpp:1644 Enable joint servos succeed.
12-20 19:29:39.957[INFO] robot_hw.cpp:1525 Releasing brakes...
12-20 19:29:41.177[INFO] robot_hw.cpp:1599 Releasing brakes succeed
12-20 19:29:41.377[INFO] robot_hw.cpp:6310 Switch to CSP mode.
12-20 19:29:41.577[INFO] common.h:304 Initial joint positions(degree): 0.0174435, 0.0111386, -0.00294228, 0.0754483, 0.0252195, 0
# 关键信息： 起始位置
12-20 19:29:41.577[INFO] common.h:306 Target joint positions(degree): 60, 60, 60, 60, 60, 60
12-20 19:29:41.577[INFO] common.h:308 Max joint speeds(degree/s): 310.455, 309.743, 310.634, 307.545, 306.653, 237.624
12-20 19:29:41.577[INFO] common.h:310 Max joint accelerations(degree/s^2): 594.059, 594.059, 594.059, 594.059, 594.059, 594.059
12-20 19:29:43.658[WARN] robot_hw.cpp:4165 WARNING!!! servo_buffer_ EMPTY.
12-20 19:29:43.662[INFO] common.h:462 单个点下发最大耗时： 5.17903
#关键信息： 结束位置
12-20 19:29:43.662[INFO] common.h:464 Final joint positions(degree): 59.9644, 59.9665, 59.968, 59.9625, 59.964, 59.9634
12-20 19:29:43.662[INFO] common.h:467 Final joint positions error(degree): -0.0355875, -0.0334859, -0.0320148, -0.037479, -0.0360078, -0.0366383
12-20 19:29:43.662[INFO] robot_hw.cpp:1717 Lock brake ...
12-20 19:29:44.277[INFO] robot_hw.cpp:1753 Lock brake succeed
12-20 19:29:44.277[INFO] main.cpp:199 --FINISHED
# 程序运行结束，此时机械臂应当处在目标位置附近
# 注： 此例程只做位置运动功能验证，运动角度精度不关心。
以上三个工具执行结束，并能达到期望效果，则认为机器人处在正常状态可以进行正常的测试或者生产。