40823222 cd2021

  • Home
    • Site Map
    • reveal
    • blog
  • About
  • W1
  • stage1-bg22
    • W2-W4
      • w1 小組討論
      • w2 繪製圖檔
      • w3 程式模擬
      • w4 小組報告
  • stage2-bg10
    • W5
    • W6-W9
      • 零件圖
      • 模擬
      • 影片錄製
      • 參考資料
  • stage3-bg3
    • Task 1
    • Task 2
    • RoboDK
    • 學習python
    • W16
    • stage3模擬
    • w18
  • 直播影片
學習python << Previous Next >> stage3模擬

W16

1.onshape零件檔：
Onshape零件圖網址

2.建立 CoppeliaSim 4.1.0 MTB robot 場景
雲端連結W16_exam：

W16_exam 雲端硬碟

3.吸盤設置

4.逆向運動學函式
lua程式：

function moving(x,y)
    a=0.4
    b=0.4
    c=math.pow((math.pow(x,2)+math.pow(y,2)),0.5)
    s=(a+b+c)/2
    area=math.pow((s*(s-a)*(s-b)*(s-c)),0.5)
    h=area/(2*c)
    deg1_base=math.atan(x/y)
    if x<0 and y<0 then
        deg1_base=deg1_base+math.pi
    end
    deg1_tri=math.asin(h/a)
    deg1=deg1_base+deg1_tri
    deg2=math.pi-(0.5*math.pi-deg1_tri)-math.acos(h/b)
    deg3=deg2-deg1
    sim.setJointTargetPosition(joint01,deg1)
    sim.setJointTargetPosition(joint02,-deg2)
    sim.setJointTargetPosition(joint03,deg3)
end


function sysCall_threadmain()
    joint01=sim.getObjectHandle('joint1')
    joint02=sim.getObjectHandle('joint2')
    joint03=sim.getObjectHandle('joint3')
    jointz=sim.getObjectHandle('jointz')
    sim.setJointTargetPosition(joint01,0)
    sim.setJointTargetPosition(joint02,0)
    sim.setJointTargetPosition(joint03,0)
    sim.setJointTargetPosition(jointz,0)
    sim.setIntegerSignal("pad_switch",1)
    sim.setJointTargetPosition(jointz,-0.1)
    sim.wait(5)
    while sim.getSimulationState()~=sim.simulation_advancing_abouttostopre do
        sim.setJointTargetPosition(jointz,0)
        moving(0.2,0.7)
        sim.wait(5)
        sim.setIntegerSignal("pad_switch",0)
        sim.wait(5)
        sim.setIntegerSignal("pad_switch",1)
        sim.wait(5)
        sim.setJointTargetPosition(jointz,-0.1)
        sim.wait(5)
        sim.setJointTargetPosition(jointz,0)
        sim.wait(5)
        moving(-0.3,-0.55)
        sim.wait(5)
        sim.setIntegerSignal("pad_switch",0)
        sim.wait(5)
        sim.setIntegerSignal("pad_switch",1)
        sim.wait(5)
        sim.setJointTargetPosition(jointz,-0.1)
        sim.wait(5)
        sim.setJointTargetPosition(jointz,0)
        sim.wait(5)
        end
end

function sysCall_cleanup()
    -- Put some clean-up code here
end

-- See the user manual or the available code snippets for additional callback functions and details


sim.getObjectHandle('joint1')

sim.getOjectHandle ('  ') 是指處理物件的相關。

sim.setJointTargetPosition(joint01,deg1)

sim.setJointTargetPosition(  ,  )  是指設定軸的目標位置(上方處理完的物件 , 給予速度或是其他的條件 )。

 while sim.getSimulationState()~=sim.simulation_advancing_abouttostopre do

循環的程式瑪


鍵盤控制：

function sysCall_init()
    joint01=sim.getObjectHandle('joint1')
    joint02=sim.getObjectHandle('joint2')
    joint03=sim.getObjectHandle('joint3')
    jointz=sim.getObjectHandle('jointz')
    sim.setJointTargetPosition(joint01,0)
    sim.setJointTargetPosition(joint02,0)
    sim.setJointTargetPosition(joint03,0)
    sim.setJointTargetPosition(jointz,0)
    deg1=0
    deg2=0
    deg3=0
end

function sysCall_actuation()
    message,auxiliaryData=sim.getSimulatorMessage()
    while message~=-1 do
        if (message==sim.message_keypress) then
            if (auxiliaryData[1]==97) then
            deg1=deg1+1
            sim.setJointTargetPosition(joint01,deg1*math.pi/180)
            end
            if (auxiliaryData[1]==100) then
            deg1=deg1-1
            deg3=deg2-deg1
            sim.setJointTargetPosition(joint01,deg1*math.pi/180)
            end
            if (auxiliaryData[1]==119) then
            deg2=deg2+1
            deg3=deg1-deg2
            sim.setJointTargetPosition(joint02,deg2*math.pi/180)
            end
            if (auxiliaryData[1]==115) then
            deg2=deg2-1
            deg3=deg1-deg2
            sim.setJointTargetPosition(joint02,deg2*math.pi/180)
            end
            if (auxiliaryData[1]==2008) then
                sim.setJointTargetPosition(jointz,-0.1)
                sim.setIntegerSignal("pad_switch",1)
            end
            if(auxiliaryData[1]==2007) then
                sim.setJointTargetPosition(jointz,0)
            end
            if(auxiliaryData[1]==32) then
                sim.setIntegerSignal("pad_switch",0)
            end
            sim.setJointTargetPosition(joint03,deg3*math.pi/180)
        end
    message,auxiliaryData=sim.getSimulatorMessage()
    end
end

message,auxiliaryData=sim.getSimulatorMessage()

是指訊息 , 輔助參數或是數據 = 模擬得到模擬器訊息。

while message ~= -1 do

是指當訊息為非 -1 得做以下的。

5.Python remote API

import sim as vrep
import math
import random
import time
import math

def moving(x,y):
        a=0.4
        b=0.4
        c=math.pow((math.pow(x,2)+math.pow(y,2)),0.5)
        s=(a+b+c)/2
        area=math.pow((s*(s-a)*(s-b)*(s-c)),0.5)
        h=area/(2*c)
        deg1_base=math.atan(x/y)
        if x<0 and y<0 :
            deg1_base=deg1_base+math.pi
        deg1_tri=math.asin(h/a)
        deg1=deg1_base+deg1_tri
        deg2=math.pi-(0.5*math.pi-deg1_tri)-math.acos(h/b)
        deg3=deg2-deg1
        vrep.simxSetJointTargetPosition(clientID,joint01,deg1,opmode)
        vrep.simxSetJointTargetPosition(clientID,joint02,-deg2,opmode)
        vrep.simxSetJointTargetPosition(clientID,joint03,deg3,opmode)
        

print ('Start')
 
vrep.simxFinish(-1)
 
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)

if clientID != -1:
    print ('Connected to remote API server')

    res = vrep.simxAddStatusbarMessage(
        clientID, "40823222 ",
        vrep.simx_opmode_oneshot)
    if res not in (vrep.simx_return_ok, vrep.simx_return_novalue_flag):
        print("Could not add a message to the status bar.")


    opmode = vrep.simx_opmode_oneshot_wait
    STREAMING = vrep.simx_opmode_streaming


    vrep.simxStartSimulation(clientID, opmode)
    ret,joint01=vrep.simxGetObjectHandle(clientID,"joint1",opmode)
    ret,joint02=vrep.simxGetObjectHandle(clientID,"joint2",opmode)
    ret,joint03=vrep.simxGetObjectHandle(clientID,"joint3",opmode)
    ret,jointz=vrep.simxGetObjectHandle(clientID,"jointz",opmode)
    
    vrep.simxSetJointTargetPosition(clientID,joint01,0,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint02,0,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint03,0,opmode)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
    vrep.simxSetJointTargetPosition(clientID,jointz,-0.1,opmode)
    time.sleep(3)
    vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
    while True:
        moving(0.2,0.7)
        time.sleep(3)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
        time.sleep(3)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
        vrep.simxSetJointTargetPosition(clientID,jointz,-0.1,opmode)
        time.sleep(3)
        vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
        moving(-0.3,-0.55)
        time.sleep(3)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
        time.sleep(3)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
        vrep.simxSetJointTargetPosition(clientID,jointz,-0.1,opmode)
        time.sleep(3)
        vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)

40823214 直播教學影片：


學習python << Previous Next >> stage3模擬

Copyright © All rights reserved | This template is made with by Colorlib