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w16

Google Drive下載連結:https://drive.google.com/file/d/1BKMA9DMvI_cxyJNDcPQxKfa3I4id9ED2/view?usp=sharing

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項目一:Onshape 零組件繪製

項目二:建立 CoppeliaSim 4.1.0 MTB robot 場景

項目三:手臂末端加入 components-gripper-suction pad 吸盤

(項目二/三內容放於同一影片)

項目四:逆向運動學函式

(有2部影片分別為鍵盤控制/程式迴圈兩種方式)

"鍵盤控制"

function sysCall_init()
    joint1=sim.getObjectHandle('joint1')
    joint2=sim.getObjectHandle('joint2')
    jointz=sim.getObjectHandle('jointz')
    joint3=sim.getObjectHandle('joint3')
    sim.setJointTargetPosition(joint1,0)
    sim.setJointTargetPosition(joint2,0)
    sim.setJointTargetPosition(joint3,0)
    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]==2009) then
            deg1=deg1+1
            deg3=deg2-deg1
            sim.setJointTargetPosition(joint1,deg1*math.pi/180)
            end
            if (auxiliaryData[1]==2010) then
            deg1=deg1-1
            deg3=deg2-deg1
            sim.setJointTargetPosition(joint1,deg1*math.pi/180)
            end
            if (auxiliaryData[1]==2007) then
            deg2=deg2+1
            deg3=deg1-deg2
            sim.setJointTargetPosition(joint2,deg2*math.pi/180)
            end
            if (auxiliaryData[1]==2008) then
            deg2=deg2-1
            deg3=deg1-deg2
            sim.setJointTargetPosition(joint2,deg2*math.pi/180)
            end
            if (auxiliaryData[1]==115) then
                sim.setJointTargetPosition(jointz,-0.085)
                sim.setIntegerSignal("pad_switch",1)
            end
            if (auxiliaryData[1]==119) then
                sim.setJointTargetPosition(jointz,0)
            end
            if (auxiliaryData[1]==32) then
                sim.setIntegerSignal("pad_switch",0)
            end
            sim.setJointTargetPosition(joint3,deg3*math.pi/180)
        end
    message,auxiliaryData=sim.getSimulatorMessage()
    end
end

鍵盤控制操作:

⇧-黃軸逆時鐘旋轉

⇩-黃軸順時鐘旋轉

⇦-紫軸逆時鐘旋轉

⇨-紫軸順時鐘旋轉

S-吸盤向下

W-吸盤向上並吸取

空白鍵-放下

"程式迴圈"

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
    print(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,-0.05)
    sim.wait(3)
    sim.setJointTargetPosition(jointz,0)
    while sim.getSimulationState()~=sim.simulation_advancing_abouttostop 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,-0.05)
        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,-0.05)
        sim.wait(3)
        sim.setJointTargetPosition(jointz,0)
        sim.wait(3)
    end
    end

項目五:Python remote API 逆向運動學函式

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 :
        deg_base1=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('192.168.0.10', 19997, True, True, 5000, 5)

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

    res = vrep.simxAddStatusbarMessage(
        clientID, "This is teach by 40823214 ",
        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,-0.055,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,-0.055,opmode)
        time.sleep(3)
        vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
        moving(-0.3,-0.6)
        time.sleep(3)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
        time.sleep(3)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
        vrep.simxSetJointTargetPosition(clientID,jointz,-0.055,opmode)
        time.sleep(3)
        vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)

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"參考40823214的2部直播影片"

影片1:

https://www.youtube.com/watch?v=GUUKSgN93eI

影片2:

https://www.youtube.com/watch?v=gZd9KlVS9BI

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