静态抓取

Robotislove · Apr 16, 2019 · a0a7f60 · a0a7f60
1 parent 6939535
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diff --git a/三次样条插值/test.m b/三次样条插值/test.m
@@ -2,8 +2,10 @@
 clear all;
 %三次样条测试
 %原始数据点
-X = [0, 0.422955130, 0.598557636, 0.734591320, 0.850603738, 0.953558869, 1.056514000, 1.159469131, 1.274332912, 1.409208218, 1.585026197, 2];
-Y = [0, 0.14881055128822188, 0.2976136037517004, 0.4464166562151788, 0.5952197086786574, 0.7440227611421358, 0.8928258136056142, 1.0416288660690929, 1.1904319185325714, 1.3392349709960498, 1.4880380234595283, 1.6368410759230068];
+% X = [0, 0.422955130, 0.598557636, 0.734591320, 0.850603738, 0.953558869, 1.056514000, 1.159469131, 1.274332912, 1.409208218, 1.585026197, 2];
+% Y = [0, 0.14881055128822188, 0.2976136037517004, 0.4464166562151788, 0.5952197086786574, 0.7440227611421358, 0.8928258136056142, 1.0416288660690929, 1.1904319185325714, 1.3392349709960498, 1.4880380234595283, 1.6368410759230068];
+X = [0,1,2,3,4,5,6,7,8,9,10];
+Y = [0,1,2,3,3,3,3,3,2,1,0];
 s = csapi(X,Y);   %三次样条
 fnplt(s, 'r');         %绘制样条曲线
 hold on

diff --git a/梁斌-空间机器人：建模、规划与控制/SCurveNew/main.m b/梁斌-空间机器人：建模、规划与控制/SCurveNew/main.m
@@ -16,12 +16,12 @@
 % robot.Gravity = [0 0 -9.80];%重力方向设置
 
 
-Q_zero = [0,0,0,0,90,0];%底座 -> 抓手
+Q_zero = [0,90,0,0,0,00];%底座 -> 抓手
 % robot.jacob0(Q_zero)
 
 Angle_Last = Q_zero + [0,90,0,0,0,0];
 pose_start = Fkine_Final(Q_zero)%正解
-
+a = Ikine_Step(pose_start,Angle_Last)
 %平移
 trans = [1  0  0  0.2;
          0  1  0  0.2;

diff --git a/梁斌-空间机器人：建模、规划与控制/main.m b/梁斌-空间机器人：建模、规划与控制/main.m
@@ -24,7 +24,7 @@
 % daspect([1 1 1]);%控制沿每个轴的数据单位长度,要在所有方向上采用相同的数据单位长度，使用 [1 1 1] 
 
 
-Q_zero1 = [0,0,0,0,90,0];%底座 -> 抓手
+Q_zero1 = [10,20,30,40,90,50];%底座 -> 抓手
 Angle_Last = Q_zero1 + [0,90,0,0,0,0];
 p1 = Fkine_Final(Q_zero1)%正解
 %平移

diff --git a/空间圆弧/Pos.csv b/空间圆弧/Pos.csv
diff --git a/空间圆弧/Pos.txt b/空间圆弧/Pos.txt
diff --git a/空间圆弧/example.avi b/空间圆弧/example.avi
diff --git a/空间圆弧/example.mp4 b/空间圆弧/example.mp4
diff --git a/空间圆弧/main.m b/空间圆弧/main.m
@@ -32,7 +32,7 @@
 
 v = 0.1;%运动速度0.1m/s
 a = 0.03;%加速度 0.01接近三角函数
-t = 0.1;%插补周期10ms（plc周期）
+t = 0.002;%插补周期10ms（plc周期）
 L = sqrt(trans(1,4)^2 + trans(2,4)^2 + trans(3,4)^2);%distance
 N = ceil(L/(v*t)) + 1;%插补数量
 
@@ -66,14 +66,38 @@
 plot3(trajectory(1,:),trajectory(2,:),trajectory(3,:),'r'),xlabel('x'),ylabel('y'),zlabel('z'),hold on;
 plot3(trajectory(1,:),trajectory(2,:),trajectory(3,:),'o','color','g'),grid on;
 
+% 减速比
+Ratio1 = 121;
+Ratio2 = 160.68;
+Ratio3 = 101.81;
+Ratio4 = 99.69;
+Ratio5 = 64.56;
+Ratio6 = 49.99;
+
+Ratio = [Ratio1, Ratio2, Ratio3, Ratio4, Ratio5, Ratio6];
 
 for i = 1:length(trajectory)
     pose_start(1,4) = trajectory(1,i);
     pose_start(2,4) = trajectory(2,i);
     pose_start(3,4) = trajectory(3,i);
     q(i,:) = Ikine_Step(pose_start,Q_zero);%反解
+    qout(i,:) = q(i,:).*Ratio / 2; 
+    qout(i,:) = qout(i,:) .* [1 1 1 1 -1 -1];
 end
 
+Sizefont = 30;
+xlabel('X (m)','FontSize',Sizefont,'FontName','Times New Roman');
+ylabel('Y (m)','FontSize',Sizefont,'FontName','Times New Roman');
+zlabel('Z (m)','FontSize',Sizefont,'FontName','Times New Roman');
+grid on 
+format short;
+%输出文件
+Pos = roundn(qout,-4);
+T=table(Pos);
+fid = fopen('Pos.txt','wt+');
+fprintf(fid,'%-8.4f,%-8.4f,%-8.4f,%-8.4f,%-8.4f,%-8.4f,\n',Pos.');
+writetable(T,'Pos.csv');
+
 figure(2);
 for i = 1:6
 v = diff(q(:,i));
@@ -118,9 +142,8 @@
 %     end
 end
 
-
 aviobj=VideoWriter('example.avi');
-aviobj.FrameRate=10;%set FrameRate before open it
+aviobj.FrameRate=30;%set FrameRate before open it
 open(aviobj);
 
 for i = 1:length(trajectory)   
@@ -139,3 +162,5 @@
     writeVideo(aviobj,MOV);
 end
 close(aviobj)
+
+