3自由度串聯(lián)機(jī)械臂實現(xiàn)電磁鐵搬運(yùn)功能

1、功能描述

R308樣機(jī)是一款擁有3自由度的串聯(lián)機(jī)械臂。本文提供的示例所實現(xiàn)的功能為：在3自由度串聯(lián)機(jī)械臂樣機(jī)上安裝電磁鐵，實現(xiàn)電磁鐵搬運(yùn)物品的功能。

2、電子硬件

在這個示例中，我們采用了以下硬件，請大家參考：

電路連接說明：

注：

① 270°伺服電機(jī)連接在Bigfish擴(kuò)展板D4 . GND . VCC接口上

② 270°伺服電機(jī)連接在Bigfish擴(kuò)展板D7 . GND . VCC接口上

③ 270°伺服電機(jī)連接在Bigfish擴(kuò)展板D11 . GND . VCC接口上

電磁鐵連接在Bigfish擴(kuò)展板D9，D10接口上

3、運(yùn)動控制

上位機(jī)：Controller 1.0

下位機(jī)編程環(huán)境：Arduino 1.8.19

3.1初始位置的設(shè)定

① 將Controller下位機(jī)程序servo_bigfish.ino直接下載到主控板。這段代碼供Controller上位機(jī)與主控板通信，并允許調(diào)試舵機(jī)。代碼如下：

/*------------------------------------------------------------------------------------

  版權(quán)說明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 機(jī)器譜 2023-01-31 https://www.robotway.com/

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

/*

* Bigfish擴(kuò)展板舵機(jī)口; 4, 7, 11, 3, 8, 12, 14, 15, 16, 17, 18, 19

* 使用軟件調(diào)節(jié)舵機(jī)時請拖拽對應(yīng)序號的控制塊

*/

#include 


#define ANGLE_VALUE_MIN 0

#define ANGLE_VALUE_MAX 180

#define PWM_VALUE_MIN 500

#define PWM_VALUE_MAX 2500


#define SERVO_NUM 12


Servo myServo[SERVO_NUM];


int data_array[2] = {0,0};   //servo_pin: data_array[0], servo_value: data_array[1];

int servo_port[SERVO_NUM] = {4, 7, 11, 3, 8, 12, 14, 15, 16, 17, 18, 19};

int servo_value[SERVO_NUM] = {};


String data = "";


boolean dataComplete = false;


void setup() {

  Serial.begin(9600);

 

}


void loop() {

 

  while(Serial.available())

  {

    int B_flag, P_flag, T_flag;

    data = Serial.readStringUntil('n');

    data.trim();

    for(int i=0;i= ANGLE_VALUE_MIN && where <= ANGLE_VALUE_MAX)

  {

    myServo[which].write(where);

  }

  else if(where >= PWM_VALUE_MIN && where <= PWM_VALUE_MAX)

  {

    myServo[which].writeMicroseconds(where);

  }

}


int pin2index(int _pin){

  int index;

  switch(_pin)

  {

    case 4: index = 0; break;

    case 7: index = 1; break;

    case 11: index = 2; break;

    case 3: index = 3; break;

    case 8: index = 4; break;

    case 12: index = 5; break;

    case 14: index = 6; break;

    case 15: index = 7; break;

    case 16: index = 8; break;

    case 17: index = 9; break;

    case 18: index = 10; break;

    case 19: index = 11; break;

  }

  return index;

}

下載完成后，保持主控板和電腦的USB連接，以便利用上位機(jī)進(jìn)行調(diào)試。

② 雙擊打開Controller 1.0b.exe：

③ 界面左上角選擇：設(shè)置-面板設(shè)置，彈出需要顯示的調(diào)試塊，可通過勾選隱藏不需要調(diào)試的舵機(jī)塊：聯(lián)機(jī)-選擇主控板對應(yīng)端口號以及波特率。

④ 拖動進(jìn)度條，可以觀察相應(yīng)的舵機(jī)角度轉(zhuǎn)動。寫好對應(yīng)的舵機(jī)調(diào)試角度，勾選左下角添加-轉(zhuǎn)化，獲得舵機(jī)調(diào)試的數(shù)組：

⑤ 將該數(shù)組直接復(fù)制到相應(yīng)的Arduino程序中的get_coordinate（）部分進(jìn)行使用。

3.2調(diào)試好角度后將電磁鐵搬運(yùn)例程（calculate_angle_test.ino）下載到主控板【程序源碼詳見 https://www.robotway.com/h-col-191.html】

/*------------------------------------------------------------------------------------

  版權(quán)說明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 機(jī)器譜 2023-01-31 https://www.robotway.com/

  ------------------------------*/

#include 

#include 


#define SERVO_SPEED 3460                                        //定義舵機(jī)轉(zhuǎn)動快慢的時間

#define ACTION_DELAY 200                                        //定義所有舵機(jī)每個狀態(tài)時間間隔


#define L1 172

#define L2 160

#define L3 135


Servo myServo[6];


int f = 200;                                                    //定義舵機(jī)每個狀態(tài)間轉(zhuǎn)動的次數(shù)，以此來確定每個舵機(jī)每次轉(zhuǎn)動的角度

int servo_port[6] = {4,7,11,3,8,12};                            //定義舵機(jī)引腳

int servo_num = sizeof(servo_port) / sizeof(servo_port[0]);     //定義舵機(jī)數(shù)量

float value_init[6] = {1500, 1500, 1500, 0, 0, 0};              //定義舵機(jī)初始角度


double theta[3] = {};

float value_pwm[6] = {};

float coordinate[3] = {};

int data_num;


boolean dataComplete = false;


void setup() {

  Serial.begin(9600);

  pinMode(9, OUTPUT);

  pinMode(10, OUTPUT);

  for(int i=0;i= 0){

    theta[0] = theta0 * 180 / PI;

  }

  else

  {

    theta[0] = 180 + theta0 * 180 / PI;

  }


  theta[1] = 90 - theta1 * 180 / PI;

  theta[2] = theta2 * 180 / PI;

//   Serial.print("theta0 = ");

//   Serial.println(theta[0]);

//   Serial.print("theta1 = ");

//   Serial.println(theta[1]);

//   Serial.print("theta2 = ");

//   Serial.println(theta[2]);

//   Serial.println("-------------------------------------");


}


void ServoStart(int which)

{

  if(!myServo[which].attached())myServo[which].attach(servo_port[which]);

  pinMode(servo_port[which], OUTPUT);

}




void ServoStop(int which)

{

  myServo[which].detach();

  digitalWrite(servo_port[which],LOW);

}


void ServoGo(int which , int where)

{

  if(where!=200)

  {

    if(where==201) ServoStop(which);

    else

    {

      ServoStart(which);

      myServo[which].writeMicroseconds(where);

    }

  }

}


void servo_move(float value0, float value1, float value2, float value3, float value4, float value5)

{

 

  float value_arguments[] = {value0, value1, value2, value3, value4, value5};

  float value_delta[servo_num];

 

  for(int i=0;i

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