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add grab control

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cosmic_power 2025-06-11 18:24:29 +08:00
parent fff69c8ed8
commit 079d7c524b
3 changed files with 8 additions and 9 deletions
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2
Identification

@ -1 +1 @@
Subproject commit 9a5ed5c68fed3bd2834ac92046316f3eb9ffb884
Subproject commit c85642fac09c7cda3deed960cb54247ce7aa0f09

9
Project/R1000 kinematics/R1000_DVT_Kinematics.m
View File

@ -8,12 +8,11 @@ L6=Link('revolute', 'd', 0.28, 'a', 0, 'alpha', -pi/2, 'offset',0,'qlim',deg2rad
L7=Link('revolute', 'd', 0.40, 'a', 0, 'alpha', -pi/2, 'offset',-pi/2,'qlim',deg2rad([-270,270]),'modified');
L8=Link('revolute', 'd', 0, 'a', 0, 'alpha', -pi/2, 'offset',-pi/2,'qlim',deg2rad([-71,79]),'modified');
DVT=SerialLink([L1 L2 L3 L4 L5 L6 L7 L8],'name','DVT'); %连接连杆
% DVT=SerialLink([L1 L2 L3 L4 L5 L6 L7],'name','DVT'); %连接连杆
% SSAL.base = transl([-0.25 0 0]); % move its base
% SSAL.plot([pi/2 -pi/2 pi/2 0 pi -pi/2 0])%机械臂图
% SSAL.plot([0 0 0 0 0 0 0])%机械臂图
DVT.plot([0 0 0 0 0 0 0 0])%机械臂图
% DVT.plot([0 0 0 0 0 0 0 0])%机械臂图
%% test
L1=Link('revolute', 'd', 0, 'a', 0, 'alpha', 0, 'offset',0,'qlim',deg2rad([-110,110]),'modified');
L2=Link('revolute', 'd', 0, 'a', 0.2, 'alpha', pi/2, 'offset',0,'qlim',deg2rad([-120,120]),'modified');
@ -31,10 +30,10 @@ L6=Link('revolute', 'd', 0.28, 'a', 0, 'alpha', -pi/2, 'offset',0,'qlim',deg2rad
L7=Link('revolute', 'd', 0.439, 'a', 0, 'alpha', -pi/2, 'offset',-pi/2,'qlim',deg2rad([-270,270]),'modified');
L8=Link('revolute', 'd', 0, 'a', 0, 'alpha', -pi/2, 'offset',-pi/2,'qlim',deg2rad([-71,79]),'modified');
L9=Link('prismatic', 'a', 0.1265, 'alpha', -pi/2, 'theta',0,'offset',-(0.59835-0.2772),'qlim',[0,0.342],'modified');
DVT=SerialLink([L1 L2 L3 L4 L5 L6 L7 L8 L9],'name','DVT'); %连接连杆
DVT=SerialLink([L1 L2 L3 L4 L5 L6 L7],'name','DVT'); %连接连杆
% SSAL.base = transl([-0.25 0 0]); % move its base
% SSAL.plot([pi/2 -pi/2 pi/2 0 pi -pi/2 0])%机械臂图
% SSAL.plot([0 0 0 0 0 0 0])%机械臂图
% DVT.plot([0 0 0 0 0 0 0 0 0])%机械臂图
% DVT.plot([0.7;1.1;-2.1;0.345;0;3.14;0;0.262;0]')
% DVT.plot([0.7;1.1;-2.1;0.345;0;3.14;0]')
% DVT.plot([0.7;1.1;-2.1;0.345;0;3.14;0]')

6
Project/R1000 kinematics/TfJ7ToJ9.m
View File

@ -1,4 +1,4 @@
syms q8 q9 l9
syms q8 q9 l8
addpath('C:\Users\CSR000372\AppData\Roaming\MathWorks\MATLAB Add-Ons\Toolboxes\Robotics Toolbox for MATLAB\lib\spatial-math', '-begin');
% 定义L8的变换矩阵
T78 = trotx(-pi/2)*transl([0;0;0])*trotz(-pi/2+q8)*transl([0;0;0]);
@ -13,8 +13,8 @@ disp(T_total);
simplify(T_total)
% 假设具体的数值
q8_val = 0; % 示例值
q9_val = -(0.59835-0.2772); % 示例值
q8_val = 0.261799; % 示例值
q9_val = 0.59835-(0.59835-0.2772); % 示例值
l8_val = 0.1265; % 示例值
% 将符号变量替换为具体数值