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首页2D到6D机械臂逆向动力学解析
2D到6D机械臂逆向动力学解析
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更新于2024-06-26
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"机械臂在工业自动化和机器人技术中扮演着至关重要的角色,它们被广泛用于各种任务,如装配、搬运和精确定位。本资源详细介绍了机械臂的运动学和逆运动学,涵盖从2自由度(DOF)到6自由度的机械臂。 在第一章‘2DOF臂式机器人运动学’中,主要讨论了如何从关节角度找到手部(末端执行器)的位置。运动学是研究机器人的结构如何影响其在不考虑动力学因素下的位置和姿态的学科。通过了解关节坐标系统与世界坐标系之间的关系,可以计算出给定关节状态时手部的具体位置。 第二章‘2DOF臂式机器人的逆运动学’关注于从手部位置反推出关节角度。逆运动学解决了将目标位置转化为驱动关节所需角度的问题,这对于控制机械臂精确到达目标点至关重要。 第三章扩展到了3DOF臂式机器人的逆运动学,同样涉及从手部位置到关节角度的转换,并构建了相应的Unity 3D模型以进行仿真和验证。 第四章进入6DOF臂式机器人的领域,这增加了更多的复杂性,但提供了更灵活的运动范围。本章描述了如何将模型扩展到6DOF,并实现逆运动学算法。 第五章聚焦于6DOF臂式机器人的数值方法求解逆运动学问题。当解析解不可行或过于复杂时,通常会采用数值方法。这一章详细解释了数值方法的原理,并提供了编码实现的指导。 最后一章‘另一种类型的机器人’以UR3臂为例,这是一种广泛应用的轻型协作机器人,具有高精度和安全性。UR3臂的运动学和逆运动学处理方法可能与其他类型机械臂有所不同,因此单独进行讨论。 总结来说,这份资源为理解并掌握机械臂的运动学和逆运动学提供了全面的教程,从理论到实践,对2DOF至6DOF机械臂进行了深入探讨,对于学习和开发机器人控制系统的人来说是一份宝贵的参考资料。"
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Figure 1-10
With Text selected, set Alignment to Center Align and Middle Align and
check Best Fit. This will make Texts look nicer.
Next, we will finally write a script for the main subject of kinematics.
Create a folder named Scripts in Assets in the Project view, and create a
script named JointController in it by selecting Create | C # Script. When
the application (game) starts, the script runs and issues commands to the
objects in the Scene to move.
Double-clicking Joint Controller will launch Visual Studio. The bare
bone code will be displayed, so let’s add the original program here. Here is
the code for the first half.
List 1-1
using System.Collections;
using System.Collections.Generic;
![](https://csdnimg.cn/release/download_crawler_static/87688540/bge.jpg)
using UnityEngine;
using UnityEngine.UI;
namespace InverseKinematics
{
public class JointController : MonoBehaviour
{
// robot
private GameObject[] joint = new GameObject[2];
private GameObject[] arm = new GameObject[2];
private float[] armL = new float[2];
private Vector3[] angle = new Vector3[2];
// UI
private GameObject[] slider = new GameObject[2];
private float[] sliderVal = new float[2];
private GameObject[] angText = new GameObject[2];
private GameObject[] posText = new GameObject[2];
using UnityEngine.UI;
This line is needed when you use UIs in the app.
namespace InverseKinematics
Enclose the entire class with namespace. In fact, it doesn't matter if you
don't have this.
The first part of the class declares variables that represent
GameObjects in the Scene view. armL is the length of the arm. angle can
be float, but since Unity handles the rotation angle as a set of X, Y, and Z
as a type called Vector 3, it may be reasonable to use it.
![](https://csdnimg.cn/release/download_crawler_static/87688540/bgf.jpg)
List 1-2
void Start()
{
// robot
for (int i = 0; i < joint.Length; i++)
{
joint[i] = GameObject.Find("Joint_" + i.ToString());
arm[i] = GameObject.Find("Arm_" + i.ToString());
armL[i] = arm[i].transform.localScale.x;
}
// UI settings
for (int i = 0; i < joint.Length; i++)
{
slider[i] = GameObject.Find("Slider_" + i.ToString());
angText[i] = GameObject.Find("Angle_" + i.ToString());
sliderVal[i] = Slider[i].GetComponent<Slider>().value;
}
posText[0] = GameObject.Find("Pos_X");
posText[1] = GameObject.Find("Pos_Y");
}
Start () function is executed only once at the beginning. In here, robot
parts and UI parts are associated with variables declared in the script. At
the same time, the arm length (Scale in the X direction) is assigned to the
variable armL[ ].
List 1-3
void Update()
{
![](https://csdnimg.cn/release/download_crawler_static/87688540/bg10.jpg)
for (int i = 0; i < joint.Length; i++)
{
sliderVal[i] = slider[i].GetComponent<Slider>().value;
angText[i].GetComponent<Text>().text
= SliderVal[i].ToString("f2");
angle[i].z = sliderVal[i];
joint[i].transform.localEulerAngles = angle[i];
}
float px = armL[0] * Mathf.Cos(angle[0].z * Mathf.Deg2Rad) +
armL[1] * Mathf.Cos((angle[0].z + angle[1].z) * Mathf.Deg2Rad);
float py = armL[0] * Mathf.Sin(angle[0].z * Mathf.Deg2Rad) +
armL[1] * Mathf.Sin((angle[0].z + angle[1].z) * Mathf.Deg2Rad);
posText[0].GetComponent<Text>().text = px.ToString("f2");
posText[1].GetComponent<Text>().text = py.ToString("f2");
}
Update( ) function is executed every time the screen is redrawn. First,
the values of the sliders are read and Joints are rotated to those angles.
To set the angle of joint[], change the Z-axis component of angle[] and
then set it to transform.localEulerAngles of joint[].
The next 4 lines (actually 2 lines, no line breaks) are the part of the
kinematics calculation of equation (1.1). Angles should be converted from
degrees to radians.
After saving the script, with Joint_0 selected in the Hierarchy view,
drag and drop the JointController.cs script to the Inspector view. It
doesn't have to be Joint_0 to attach the script, it can be another object, or
you can add a new empty object.
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