W15 << Previous Next >> W17

W16

項目1 : Onshape 零組件繪製

以下是我自行繪製的零件，影片是我使用Onshape軟體的繪製零件教學。

onshape圖檔網址:

https://cad.onshape.com/documents/f6fe65bd36ed575a987f4dc2/w/f4a754d42e1c19f590ba5efc/e/566768e77112610f3cd18829

onshape圖檔連結:onshape個人線上繪圖連結

機械手臂下載點:機械手臂STL檔

項目2 : 建立 CoppeliaSim 4.1.0 MTB robot 場景

透過自行繪製之零件輸入 CoppeliaSim 後，組合為 MTB robot 模型，並利用 Leo Editor 以 require 導入 Lua 程式運作，分別控制各軸轉動示範，以下有我的影片示範，以及各個按鍵的功能。

Google Drive:所有檔案

以下是我「所有檔案」的檔案內容，有需要的同學們可以點下載參考。

Leo檔:鍵盤操作

可用鍵盤控制的程式的基本操作:

方向鍵左-軸1左轉

方向鍵右-軸1右轉

方向鍵上-軸2左轉

方向鍵下-軸2右轉

S-吸盤向下

W-吸盤向上並吸取

空白鍵-放下

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

-------------------------------------------------------------------------------------------

以下是參考老師提供的程式，藉由鍵盤按鍵操作機械手臂的轉向。

if (auxiliaryData[1]==114) then --r right turn in degree
                    -- if key r pressed axis1 angle adds 5 degrees
                     rotation1 = rotation1 + 5*deg
                     sim.setJointPosition(axis1, rotation1)
                end -- if r
                if (auxiliaryData[1]==108) then --l left turn in degree
                    -- if key l pressed axis1 angle substract 5 degrees
                     rotation1 = rotation1 - 5*deg
                     sim.setJointPosition(axis1, rotation1)
                end -- if l
                if (auxiliaryData[1]==100) then --d suction pad down
                    -- if key d pressed axis3 will down 0.01 m plus calibration
                     distance3 = distance3 + 0.01 + calibration
                     sim.setJointPosition(axis3, distance3)
                end -- if d
                if (auxiliaryData[1]==117) then --u suction pad up
                    -- if key u pressed axis3 will up 0.01 m minus calibration
                    -- 吸盤往下升 1 公分加上校正值
                     distance3 = distance3 - 0.01 - calibration
                     sim.setJointPosition(axis3, distance3)
                end -- if u

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

在其機械手臂末端接上 force sensor 後接上標準 suction pad ，使其可以取放方塊。

驅動程式參數:

根據每個人所做的機械手臂大小不同，吸盤軸下降高度也會有所不同

像是我 jointz 的參數改為-0.055m

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 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.setIntegerSignal("pad_switch",1)
    sim.setJointTargetPosition(jointz,-0.085)
    sim.wait(2)
    sim.setJointTargetPosition(jointz,0)
    while sim.getSimulationState()~=sim.simulation_advancing_abouttostopre do
    moving(0.2,0.7)
    sim.wait(2)
    sim.setIntegerSignal("pad_switch",0)
    sim.wait(2)
    sim.setIntegerSignal("pad_switch",1)
    sim.setJointTargetPosition(jointz,-0.085)
    sim.wait(2)
    sim.setJointTargetPosition(jointz,0)
    sim.wait(2)
    moving(-0.3,-0.55)
    sim.wait(2)
    sim.setIntegerSignal("pad_switch",0)
    sim.wait(2)
    sim.setIntegerSignal("pad_switch",1)
    sim.setJointTargetPosition(jointz,-0.085)
    sim.wait(2)
    sim.setJointTargetPosition(jointz,0)
    sim.wait(2)
    end
end

----------------------------------------------------------------------------------------------------

以下是參考同學40823214提供的程式

 maxPullForce=sim.getScriptSimulationParameter(sim.handle_self,'maxPullForce')
    maxShearForce=sim.getScriptSimulationParameter(sim.handle_self,'maxShearForce')
    maxPeelTorque=sim.getScriptSimulationParameter(sim.handle_self,'maxPeelTorque')
 
    sim.setLinkDummy(l,-1)
    sim.setObjectParent(l,b,true)
    m=sim.getObjectMatrix(l2,-1)
    sim.setObjectMatrix(l,-1,m)
end
 
function sysCall_cleanup() 
    --this is teach by 40823214
    sim.setLinkDummy(l,-1)
    sim.setObjectParent(l,b,true)
    m=sim.getObjectMatrix(l2,-1)
    sim.setObjectMatrix(l,-1,m)
end
 
function sysCall_sensing() 
    parent=sim.getObjectParent(l)
    --this is teach by 40823214
    local sig=sim.getIntegerSignal("pad_switch")
    if (not sig) or (sig==0) then
        if (parent~=b) then
            sim.setLinkDummy(l,-1)
            sim.setObjectParent(l,b,true)
            m=sim.getObjectMatrix(l2,-1)
            sim.setObjectMatrix(l,-1,m)
        end
    else
        if (parent==b) then
            index=0
            while true do
                shape=sim.getObjects(index,sim.object_shape_type)
                if (shape==-1) then
                    break
                end
                local res,val=sim.getObjectInt32Parameter(shape,sim.shapeintparam_respondable)
                if (shape~=b) and (val~=0) and (sim.checkProximitySensor(s,shape)==1) then
                    -- Ok, we found a respondable shape that was detected
                    -- We connect to that shape:
                    -- Make sure the two dummies are initially coincident:
                    sim.setObjectParent(l,b,true)
                    m=sim.getObjectMatrix(l2,-1)
                    sim.setObjectMatrix(l,-1,m)
                    -- Do the connection:
                    sim.setObjectParent(l,shape,true)
                    sim.setLinkDummy(l,l2)
                    break
                end
                index=index+1
            end
        else
            -- Here we have an object attached
            if (infiniteStrength==false) then
                -- We might have to conditionally beak it apart!
                result,force,torque=sim.readForceSensor(suctionPadLink) -- Here we read the median value out of 5 values (check the force sensor prop. dialog)
                if (result>0) then
                    breakIt=false
                    if (force[3]>maxPullForce) then breakIt=true end
                    sf=math.sqrt(force[1]*force[1]+force[2]*force[2])
                    if (sf>maxShearForce) then breakIt=true end
                    if (torque[1]>maxPeelTorque) then breakIt=true end
                    if (torque[2]>maxPeelTorque) then breakIt=true end
                    if (breakIt) then
                        -- We break the link:
                        sim.setLinkDummy(l,-1)
                        sim.setObjectParent(l,b,true)
                        m=sim.getObjectMatrix(l2,-1)
                        sim.setObjectMatrix(l,-1,m)
                    end
                end
            end
        end
    end
end

項目4 : 逆向運算學函式

透過 Leo Editor Lua 程式編寫方法，以程式指定方塊取放之兩個位置 - (0.2, 0.7, 0.05) 與 (-0.3, -0.55, 0.05)。

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 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.setIntegerSignal("pad_switch",1)
    sim.setJointTargetPosition(jointz,-0.055)
    sim.wait(3)
    sim.setJointTargetPosition(jointz,0)
    while sim.getSimulationState()~=sim.simulation_advancing_abouttostopre 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,-0.055)
    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,-0.055)
    sim.wait(3)
    sim.setJointTargetPosition(jointz,0)
    sim.wait(3)
    end
end

項目5 : Python remote API 逆向運動學函式

利用 Python remote API 程式重現以迴圈方式執行，將程式放入小白窗按 Tools→Go 來執行。

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('127.0.0.1', 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(2)
    vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
    
    while True:
        moving(0.2,0.7)
        time.sleep(2)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
        time.sleep(2)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
        vrep.simxSetJointTargetPosition(clientID,jointz,-0.055,opmode)
        time.sleep(2)
        vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
        moving(-0.3,-0.6)
        time.sleep(2)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
        time.sleep(2)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
        vrep.simxSetJointTargetPosition(clientID,jointz,-0.055,opmode)
        time.sleep(2)
        vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)

心得:

以我這位初學者的角度出發，這條路真的難上加難，寫程式時常常遇到挫折，同時要學會Onshape、Coppeliasim確實不簡單，不過這一路上特別感謝40823214這位同學，他又讓我重新振作起來，他也常利用課後時間教導我們班上的同學，而且有問必有答，教學上還不吝嗇，他也會將它教學影片放上Youtube讓我們可以自行學習，在此特別感謝他，最後我也確實在這門課學習到很多知識，也期望後續能利用這門所學的技能，在未來社會中學以致用。

40823214的30人協同的教學影片，當時我也有參與其中，以下共有3部影片

-----------------------------------------------------------------------------------------------------

以下我再次統總所有載點，供有需要下載的人

項目1-機械手臂3D檔(STL檔)

項目2-鍵盤操作(lua程式)

項目3-吸盤程式(txt檔)

項目4-軟體內運作(lua程式)

項目5-Python remote API 驅動(PY程式)

所有程式

W15 << Previous Next >> W17