LinkerHand-CPP-SDK 是由灵心巧手（北京）科技有限公司开发，用于 L7、L10、L20、L21、L25 型号灵巧手的驱动软件和 Demo 示例。
- 下载 SDK
git clone https://github.com/linkerbotai/linker_hand_cpp_sdk.git- 启动脚本
cd linker_hand_cpp_sdk/linker_hand ./script.sh
- 运行示例
cd build ./linker_hand_example
- 创建 main.cpp 文件，并添加以下代码：
// main.cpp #include "LinkerHandApi.h" int main() { // 调用API接口 LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT); // 获取版本信息 std::cout << hand.getVersion() << std::endl; // 握拳 std::vector<uint8_t> fist_pose = {101, 60, 0, 0, 0, 0, 255, 255, 255, 51}; hand.fingerMove(fist_pose); std::this_thread::sleep_for(std::chrono::seconds(1)); // 张开 std::vector<uint8_t> open_pose = {255, 104, 255, 255, 255, 255, 255, 255, 255, 71}; hand.fingerMove(open_pose); std::this_thread::sleep_for(std::chrono::seconds(1)); return 0; }- 创建 CMakeLists.txt 文件，并添加以下配置：
# CMakeLists.txt cmake_minimum_required(VERSION 3.5) project(MyProject) # 查找 LINKER_HAND_LIB 库 find_library(LINKER_HAND_LIB NAMES linker_hand_lib PATHS /usr/local/linker_hand_cpp_sdk/lib NO_DEFAULT_PATH ) # 查找 RMAN_API_LIB 库 find_library(RMAN_API_LIB NAMES api_cpp PATHS /usr/local/linker_hand_cpp_sdk/third_party/Robotic_Arm/lib NO_DEFAULT_PATH ) # 包含目录 include_directories( include /usr/local/linker_hand_cpp_sdk/include /usr/local/linker_hand_cpp_sdk/third_party/Robotic_Arm/include ) # 添加可执行文件 add_executable(my_project main.cpp) # 链接库 target_link_libraries(my_project ${LINKER_HAND_LIB} ${RMAN_API_LIB} pthread)- 文件结构
├── example │ ├── CMakeLists.txt │ └── main.cpp - 编译
cd example mkdir build cd build cmake .. make- 运行
./my_project- position 与手指关节对照表
L7: ["大拇指弯曲", "大拇指横摆","食指弯曲", "中指弯曲", "无名指弯曲","小拇指弯曲","拇指旋转"] L10: ["拇指根部", "拇指侧摆","食指根部", "中指根部", "无名指根部","小指根部","食指侧摆","无名指侧摆","小指侧摆","拇指旋转"] L20: ["拇指根部", "食指根部", "中指根部", "无名指根部","小指根部","拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小指侧摆","拇指横摆","预留","预留","预留","预留","拇指尖部","食指末端","中指末端","无名指末端","小指末端"] L21: ["大拇指根部", "食指根部", "中指根部","无名指根部","小拇指根部","大拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小拇指侧摆","大拇指横滚","预留","预留","预留","预留","大拇指中部","预留","预留","预留","预留","大拇指指尖","食指指尖","中指指尖","无名指指尖","小拇指指尖"] L25: ["大拇指根部", "食指根部", "中指根部","无名指根部","小拇指根部","大拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小拇指侧摆","大拇指横滚","预留","预留","预留","预留","大拇指中部","食指中部","中指中部","无名指中部","小拇指中部","大拇指指尖","食指指尖","中指指尖","无名指指尖","小拇指指尖"] | 序号 | 文件名称 | 描述 |
|---|---|---|
| 1 | Examples | 示例集合（支持 L7、L10、L20、L21、L25 灵巧手） |
| 2 | ModbusRTU | 仅支持 L10 型号灵巧手（四代睿尔曼臂） |