40823204 cd2021

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W16

1. Onshape 零組件繪製

圖檔網址:https://cad.onshape.com/documents/a6adda143659f4830a64b826/w/c52c50d2634992ffe5c99dd4/e/013319cd704e496d14c729d0

STL檔案下載處:W16.7z

以下是我畫二軸機械臂的操作，連桿中各連接處沒畫孔的原因是因為在COPPELIA中可用工具直接將孔軸對正，因此省略了此畫圖步驟。

2. 建立 CoppeliaSim 4.1.0 MTB robot 場景

Google Drive:檔案下載處

以下影片過程為連接各軸件的步驟，包含加入末端吸盤的過程

3. 手臂末端加入 components-gripper-suction pad 吸盤

Lua鍵盤控制程式代碼說明

方向鍵左>代碼"2009"---控制joint1向左轉
方向鍵右>代碼"2010"---控制joint1向右轉
方向鍵上>代碼"2007"---控制joint2向左轉
方向鍵下>代碼"2008"---控制joint2向右轉
s>代碼"115"---吸盤向下
w>代碼"119"---吸盤向上
空白鍵>代碼"32"---放下物體

程式碼

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,-0.023)
                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

4. 逆向運動學函式

以程式迴圈方式執行 W15 兩個指定位置之方塊取放

程式碼

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=2*area/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.wait(5)
    sim.setIntegerSignal("pad_switch",1)
    sim.setJointTargetPosition(jointz,-0.023)
    sim.wait(5)
    sim.setJointTargetPosition(jointz,0)
    sim.wait(5)
    while sim.getSimulationState()~=sim.simulation_advancing_abouttostopre do
        moving(0.2,0.7)
        sim.wait(5)
        sim.setIntegerSignal("pad_switch",0)
        sim.wait(5)
        sim.setIntegerSignal("pad_switch",1)
        sim.setJointTargetPosition(jointz,-0.023)
        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.setJointTargetPosition(jointz,-0.023)
        sim.wait(5)
        sim.setJointTargetPosition(jointz,0)
        sim.wait(5)
    end
end

5. Python remote API 逆向運動學函式

程式碼

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=2*area/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, "40823204",
        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,-0.023,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
    while True:
        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,-0.023,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,-0.023,opmode)
        time.sleep(1)
        vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)

操作心得

操作完老師布置的幾項任務後，我覺得最基本就是匯入場景的部分，那麼在程式的部分就需要更加深入地去理解，感謝40823214林厚宇同學開設群組詳細教導，讓我們都跟得上進度。


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