說明：本次內(nèi)容基于本博客四篇文章《基于C#的機(jī)器人仿真平臺和機(jī)器人運(yùn)動(dòng)學(xué)算法實(shí)現(xiàn)》、《六軸機(jī)器人軌跡規(guī)劃（直線軌跡規(guī)劃，弧線軌跡規(guī)劃）——C#實(shí)現(xiàn)+ABB為例（規(guī)劃直接下發(fā)離線程序運(yùn)動(dòng)）》、《機(jī)器人仿真搭建(以ABB為例)》和《ABB_2600運(yùn)動(dòng)學(xué)》進(jìn)行整合和Code部分重構(gòu)和改進(jìn)。

一、內(nèi)容改進(jìn)

本次內(nèi)容新添加了控制模塊，控制界面命名為虛擬示教器。

通過對應(yīng)的機(jī)器人算法將虛擬環(huán)境中的機(jī)器人位置姿態(tài)真實(shí)的反應(yīng)到現(xiàn)實(shí)機(jī)器人中

通過虛擬示教器對機(jī)器人進(jìn)行關(guān)節(jié)控制和逆解線性控制

添加了對機(jī)器人的多段軌跡規(guī)劃的功能

對虛擬機(jī)器人進(jìn)行多段軌跡規(guī)劃并生成實(shí)際機(jī)器人的Rapid代碼

二、關(guān)節(jié)、線性控制部分

可視化界面：

仿真環(huán)境：

通信模塊：

正向規(guī)劃模塊(通過實(shí)際的數(shù)據(jù)規(guī)劃機(jī)器人不同軌跡)：

虛擬示教器

記錄虛擬機(jī)器人點(diǎn)位

參數(shù)設(shè)置模塊

生成實(shí)際機(jī)器人代碼

部分代碼：

/// <summary>/// 初始化線性運(yùn)動(dòng)/// </summary>public void Init_T(){m_Theta[0] = 0.01;m_Theta[1] = 0;m_Theta[2] = 0;m_Theta[3] = 0;m_Theta[4] = 30;m_Theta[5] = 0;for (int i = 0; i < 6; i++){m_Theta[i] = m_Theta[i] * (Math.PI / 180);}m_Theta[1] = m_Theta[1] + Math.PI / 2;m_robotKine_form3.M_Trans_Mult(m_Theta);T06_IK = m_robotKine_form3.Rob_Fkine();T06_IK[0, 3] = T06_IK[0, 3] + addx - subx;T06_IK[1, 3] = T06_IK[1, 3] + addy - suby;T06_IK[2, 3] = T06_IK[2, 3] + addz - subz;}/// <summary>/// 將關(guān)節(jié)步進(jìn)值初始化為0/// </summary>public void Init_Zero_Joint(){addj1 = 0; subj1 = 0;addj2 = 0; subj2 = 0;addj3 = 0; subj3 = 0;addj4 = 0; subj4 = 0;addj5 = 0; subj5 = 0;addj6 = 0; subj6 = 0;}/// <summary>/// 將線性步進(jìn)值初始化為0/// </summary>public void Init_Zero_Liner(){addx = 0; subx = 0;addy = 0; suby = 0;addz = 0; subz = 0;addex = 0; subex = 0;addey = 0; subey = 0;addez = 0; subez = 0;}private void timer1_Tick(object sender, EventArgs e){//lable_X.Text = XYZ_test[0].ToString();//lable_Y.Text = XYZ_test[1].ToString();//lable_Z.Text = XYZ_test[2].ToString();//label_Q1.Text = Math.Round((Quate_test[0] / 2), 5).ToString();//label_Q2.Text = Math.Round((Quate_test[1] * 2), 5).ToString();//label_Q3.Text = Math.Round((Quate_test[2] * 2), 5).ToString();//label_Q4.Text = Math.Round((Quate_test[3] * 2), 5).ToString(); Init(addj1, subj1, addj2, subj2, addj3, subj3, addj4, subj4, addj5, subj5, addj6, subj6);for (int i = 0; i < 6; i++){m_Theta[i] = m_Theta[i] * (Math.PI / 180);}m_Theta[1] = m_Theta[1] + Math.PI / 2;m_robotKine_form3.M_Trans_Mult(m_Theta);T06 = m_robotKine_form3.Rob_Fkine();for (int i = 0; i < 3; i++){for (int j = 0; j < 3; j++){R[i, j] = T06[i, j];}}m_quate = m_robotKine_form3.T2Q(R);lable_X.Text = Math.Round(T06[0, 3], 3).ToString();lable_Y.Text = Math.Round(T06[1, 3], 3).ToString();lable_Z.Text = Math.Round(T06[2, 3], 3).ToString();label_Q1.Text = Math.Round((m_quate[0] / 2), 4).ToString();label_Q2.Text = Math.Round((m_quate[1] * 2), 4).ToString();label_Q3.Text = Math.Round((m_quate[2] * 2), 4).ToString();label_Q4.Text = Math.Round((m_quate[3] * 2), 4).ToString();}

三、控制實(shí)例

關(guān)節(jié)控制

逆解線性控制

多段軌跡規(guī)劃

生成Rapid代碼

Rapid代碼上傳

部分控制代碼(核心算法為軌跡規(guī)劃和機(jī)器人運(yùn)動(dòng)學(xué)算法)：

public double[] info1 = new double[6];private void timer3_Tick(object sender, EventArgs e){Init_T();info1 = m_robotKine_form3.Rob_Ikine(T06_IK);for (int i = 0; i < 3; i++){for (int j = 0; j < 3; j++){R_Liner[i, j] = T06_IK[i, j];}}m_quate_Liner = m_robotKine_form3.T2Q(R_Liner);lable_X.Text = Math.Round(T06_IK[0, 3], 3).ToString();lable_Y.Text = Math.Round(T06_IK[1, 3], 3).ToString();lable_Z.Text = Math.Round(T06_IK[2, 3], 3).ToString();label_Q1.Text = Math.Round((m_quate_Liner[0] / 2), 4).ToString();label_Q2.Text = Math.Round((m_quate_Liner[1] * 2), 4).ToString();label_Q3.Text = Math.Round((m_quate_Liner[2] * 2), 4).ToString();label_Q4.Text = Math.Round((m_quate_Liner[3] * 2), 4).ToString();label_J1.Text = Math.Round((info1[0]), 2).ToString();label_J2.Text = Math.Round((info1[1]), 2).ToString();label_J3.Text = Math.Round((info1[2]), 2).ToString();label_J4.Text = Math.Round((info1[3]), 2).ToString();label_J5.Text = Math.Round((info1[4]), 2).ToString();label_J6.Text = Math.Round((info1[5]), 2).ToString();}private void button2_Click(object sender, EventArgs e){Init_Zero_Joint();flag_joint = 1;flag_Liner = 0;timer1.Enabled = true;timer2.Enabled = true;timer3.Enabled = false;MessageBox.Show("控制器狀態(tài)切換為關(guān)節(jié)控制!");}private void button3_Click(object sender, EventArgs e){Init_Zero_Liner();flag_Liner = 1;flag_joint = 0;timer1.Enabled = false;timer2.Enabled = false;timer3.Enabled = true;MessageBox.Show("控制器狀態(tài)切換為線性控制!");}private void button4_Click(object sender, EventArgs e){m_form4.ShowDialog();}private void btn_Pos1_Click(object sender, EventArgs e){if (flag_joint == 1){T = T06;MessageBox.Show("記錄位置1:" + "[" + T[0, 3] + " " + T[1, 3] + " " + T[2, 3] + "]");}else{T = T06_IK;MessageBox.Show("記錄位置1:" + "[" + T[0, 3] + " " + T[1, 3] + " " + T[2, 3] + "]");}}private void btn_Pos2_Click(object sender, EventArgs e){if (flag_joint == 1){T1 = T06;MessageBox.Show("記錄位置2:" + "[" + T1[0, 3] + " " + T1[1, 3] + " " + T1[2, 3] + "]");}else{T1 = T06_IK;MessageBox.Show("記錄位置2:" + "[" + T1[0, 3] + " " + T1[1, 3] + " " + T1[2, 3] + "]");}}private void btn_Pos3_Click(object sender, EventArgs e){if (flag_joint == 1){T2 = T06;MessageBox.Show("記錄位置3:" + "[" + T2[0, 3] + " " + T2[1, 3] + " " + T2[2, 3] + "]");}else{T2 = T06_IK;MessageBox.Show("記錄位置3:" + "[" + T2[0, 3] + " " + T2[1, 3] + " " + T2[2, 3] + "]");}}//直線規(guī)劃生成的機(jī)器人關(guān)節(jié)角度public double[] info2 = new double[6];/// <summary>/// 兩點(diǎn)間的直線規(guī)劃/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btn_MoveL_Click(object sender, EventArgs e){timer2.Enabled = false;timer3.Enabled = false;flag_Liner_Speed = 1;flag_joint = 0;flag_Liner = 0;flag_Liner_Path = 1;flag_More_Path = 0;m_linerPath.Plan_path(T[0, 3], T[1, 3], T[2, 3], T1[0, 3], T1[1, 3], T1[2, 3], Convert.ToDouble(m_form4.Num));for (int i = 0; i < m_linerPath.x_start.Count; i++){double[,] linepos = new double[4, 4];for (int j = 0; j < 3; j++){for (int k = 0; k < 3; k++){linepos[j, k] = R[j, k];}}linepos[0, 3] = m_linerPath.x_start[i];linepos[1, 3] = m_linerPath.y_start[i];linepos[2, 3] = m_linerPath.z_start[i];m_quate_Pos = m_robotKine_form3.T2Q(R);info2 = m_robotKine_form3.Rob_Ikine(linepos);lable_X.Text = Math.Round(linepos[0, 3], 3).ToString();lable_Y.Text = Math.Round(linepos[1, 3], 3).ToString();lable_Z.Text = Math.Round(linepos[2, 3], 3).ToString();label_Q1.Text = Math.Round((m_quate_Pos[0] / 2), 4).ToString();label_Q2.Text = Math.Round((m_quate_Pos[1] * 2), 4).ToString();label_Q3.Text = Math.Round((m_quate_Pos[2] * 2), 4).ToString();label_Q4.Text = Math.Round((m_quate_Pos[3] * 2), 4).ToString();Delay(10);}}

PS:算法和仿真搭建模塊可以查找本人博客中的相關(guān)內(nèi)容，本片文章不再做闡述，謝謝大家，后續(xù)會(huì)繼續(xù)推出更有趣的機(jī)器人內(nèi)容！！！

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