40823223 cd2021

  • Home
    • Site Map
    • reveal
    • blog
  • About
  • stage1
    • W1
    • W2
    • W3
    • W4
  • W5
  • stage2
    • w6
    • w7
    • w8
    • w9
    • 參考資料
  • stage3
    • w10
    • w11
    • w12
    • w13
      • task1
    • w14
    • w15
      • robodk
      • task3
    • w16
    • w17
task3 << Previous Next >> w17

w16

繪製影片連結:  onshape 繪製

圖檔:https://cad.onshape.com/documents/a52254194f838187512dd639/w/c8e025a51f024ae50e91e85d/e/51ceb2126ff837b2b2cf9034

影片連結:建立 CoppeliaSim 4.1.0 MTB robot 場景影片展示

影片連結:components-gripper-suction pad 吸盤影片

ttt檔下載::https://drive.google.com/file/d/1yCHlHNHGecYFQmqYF9yk6qrkD8tgINV6/view?usp=sharing

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
end

function sysCall_actuation()
     message,auxiliaryData=sim.getSimulatorMessage()
    while message~=-1 do
        if (message==sim.message_keypress) then
            if (auxiliaryData[1]==119) then
            deg1=deg1+1
            sim.setJointTargetPosition(joint01,deg1*math.pi/180)
            end
            if (auxiliaryData[1]==115) then
            deg1=deg1-1
            sim.setJointTargetPosition(joint01,deg1*math.pi/180)
            end
            if (auxiliaryData[1]==97) then
            deg2=deg2+1
            sim.setJointTargetPosition(joint02,deg2*math.pi/180)
            end
            if (auxiliaryData[1]==100) then
            deg2=deg2-1
            sim.setJointTargetPosition(joint02,deg2*math.pi/180)
            end
            if (auxiliaryData[1]==111) then
                sim.setJointTargetPosition(jointz,-0.3)
                sim.setIntegerSignal("pad_switch",1)
            end
            if (auxiliaryData[1]==108) then
                sim.setJointTargetPosition(jointz,0)
                sim.setIntegerSignal("pad_switch",1)
            end
            if (auxiliaryData[1]==98) then
                sim.setIntegerSignal("pad_switch",0)
            end
            sim.setJointTargetPosition(joint03,(deg2-deg1)*math.pi/180)
        end
    message,auxiliaryData=sim.getSimulatorMessage()
    end
end

 

影片連結:逆向運動學函式影片展示

影片連結(新版):逆向運動學函式影片展示

ttt檔下載:https://drive.google.com/file/d/1wUg0kIX6pJKu6T5FEu4MUdEVmko3y6mP/view?usp=sharing

function sysCall_init()
    corout=coroutine.create(coroutineMain)
end

function sysCall_actuation()
    if coroutine.status(corout)~='dead' then
        local ok,errorMsg=coroutine.resume(corout)
        if errorMsg then
            error(debug.traceback(corout,errorMsg),2)
        end
    end
end

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 coroutineMain()
    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,-0.075)
    sim.wait(3)
    sim.setJointTargetPosition(jointz,0)
    sim.wait(3)
 while sim.getSimulationState()~=sim.simulation_advancing_abouttostopre do
    moving(0.2,0.7)
    sim.wait(3)
    sim.setIntegerSignal("pad_switch",0)
    sim.wait(3)
    sim.setIntegerSignal("pad_switch",1)
    sim.setJointTargetPosition(jointz,-0.075)
    sim.wait(3)
    sim.setJointTargetPosition(jointz,0)
    sim.wait(3)
    moving(-0.3,-0.55)
    sim.wait(3)
    sim.setIntegerSignal("pad_switch",0)
    sim.wait(3)
    sim.setIntegerSignal("pad_switch",1)
    sim.setJointTargetPosition(jointz,-0.075)
    sim.wait(3)
    sim.setJointTargetPosition(jointz,0)
    sim.wait(3)
    end
end

 

影片連結: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
    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
    vrep.simxSetJointTargetPosition(clientID,deg1,0,opmode)
    vrep.simxSetJointTargetPosition(clientID,-deg2,0,opmode)
    vrep.simxSetJointTargetPosition(clientID,deg3,0,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, "40823223 ",
        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,opmod8e)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
    vrep.simxSetJointTargetPosition(clientID,jointz,-0.08,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
    time.sleep(1)
    moving:(0.2,0.7)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
    vrep.simxSetJointTargetPosition(clientID,jointz,-0.08,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
    moving:(-0.3,-0.55)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
    vrep.simxSetJointTargetPosition(clientID,jointz,-0.08,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)




task3 << Previous Next >> w17

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