机械臂杆长与偏置参数对工作空间及操控灵活性的影响分析

最新推荐文章于 2023-03-30 17:31:34 发布

easy_R

最新推荐文章于 2023-03-30 17:31:34 发布

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分类专栏： robot optimization

本文链接：https://blog.csdn.net/easy_R/article/details/99699087

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探讨了机械臂连杆长度对工作空间及操控灵活性的影响，通过MATLAB代码实现不同参数下的工作空间体积与操作度计算，为机械臂构型设计提供优化依据。

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机器人工作空间收到机械臂连杆长度的影响，而工作空间的大小与机械臂的操控灵活性又非正相关。基于优化理论，考虑不同杆长因素对工作空间和操控灵活性之间的关系。为构型的设计提供一定参考依据。文章初步实现这一思想，后续进行继续改进优化。

matlab代码：
clc;clear all;

d4min=0.3; d4max=1.5; d4Num=10; 
d5min=0.3; d5max=1.5; d5Num=10; 
a2min=0.3; a2max=1.5; a2Num=10; 

deltad4=(d4max-d4min)/d4Num;
deltad5=(d5max-d5min)/d5Num;
deltaa2=(a2max-a2min)/a2Num;
[d4]=d4min:deltad4:d4max;
[d5]=d5min:deltad5:d5max;
[a2]=a2min:deltaa2:a2max;

for i=1:1:d4Num
    for j=1:1:d5Num
        for k=1:1:a2Num
            [v,m]=myVolum(d4(i),d5(j),a2(k));
            if v==0||m==0
                break ;
            end            
            Resu(i*j*k,:)=[v,m,d4(i),d5(j),a2(k)];        
        end
    end
end
Resu(all(Resu==0,2),:)=[];  %去除全为零的行
fprintf('输出计算结果：\r\n')
fprintf('------------------------------------\r\n    Volum      m          d4        d5         a2')
Resu         
              
%%
function [v,m]=myVolum(d4,d5,a2)
d1=0;d2=0;d3=0;d6=0;
% d4=0.5;d5=1;
% a2=.5;
a3=0;a4=0;
d=[d1,d2,d3,d4,d5,d6];
a=[0,0,a2,a3,a4,0];
alp=[0,pi/2,0,pi/2,pi/2,-pi/2];
q=[0,0,0,pi/2,0,0];
%       theta    d           a        alpha     offset
L1=Link([0     d(1)         a(1)      alp(1)      0     ],'modified');
L2=Link([0     d(2)         a(2)      alp(2)      0     ],'modified');
L3=Link([0     d(3)         a(3)      alp(3)      0     ],'modified');
L4=Link([0     d(4)         a(4)      alp(4)      0     ],'modified');
L5=Link([0     d(5)         a(5)      alp(5)      0     ],'modified');
L6=Link([0     d(6)         a(6)      alp(6)      0     ],'modified');
myrobot=SerialLink([L1 L2 L3 L4 L5 L6],'name','modified-6R');
% figure(1)
% myrobot.plot(q);
% myrobot.teach();hold on;
m=myrobot.maniplty(q,'yoshikawa');
% J=myrobot.jacob0(q);J=J(1:3,:); plot_ellipse(J*J');  %operateablity ellipse
if m<0.5 v=0;    %对于操作度小于0.5的直接舍去工作空间的计算
    return ;
end
la=[-pi/2,pi/2];
lb=[0,      pi];
lc=[0,      pi];
ld=[0,      pi];
le=[-pi,    pi];
lf=[-pi,    pi];

N=30000;
A=unifrnd(la(1),la(2),[1,N]);
B=unifrnd(lb(1),lb(2),[1,N]);
C=unifrnd(lc(1),lc(2),[1,N]);
D=unifrnd(ld(1),ld(2),[1,N]);
E=unifrnd(le(1),le(2),[1,N]);
F=unifrnd(lf(1),lf(2),[1,N]);
G= cell(N, 6);
for n = 1:N
    G{n} =[A(n) B(n) C(n) D(n) E(n) F(n)];
end
H1=cell2mat(G);
T=double(myrobot.fkine(H1));
% figure(2)
% subplot(1,2,1)
% scatter3(squeeze(T(1,4,:)),squeeze(T(2,4,:)),squeeze(T(3,4,:)));  %random points
% myrobot.plot(q)
% hold on
xx(:,1)=T(1,4,:);
yy(:,1)=T(2,4,:);
zz(:,1)=T(3,4,:);

% subplot(1,2,2)
alp = 0.2;  region = 0.75;        %hole = 1; region = 0.75;
shp = alphaShape(xx,yy,zz,alp);      %generate point cloud envelope datas
% plot(shp);                        %show
v= volume(shp);
% title(['v= ',num2str(v) ,'v']) %compute the envelope volume
end

%% 
%绘图显示4维曲面
datas=Resu;
x=datas(:,3);y=datas(:,4);z=datas(:,5);v=datas(:,1);
[xi,yi]=meshgrid(x,y);
[xi,yi,zi]=griddata(x,y,z,xi,yi,'v4');
[xi,yi,vi]=griddata(x,y,v,xi,yi,'v4');
figure
surf(xi,yi,zi,vi);
shading interp;
hold on
scatter(x,y,z,'ro');
plot3(x,y,z,'ro')
grid on;
% shading flat
% shading faceted
colorbar
axis tight

输出计算结果：

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

    Volum       m              d4          d5          a2
Resu =

    8.5901    0.5036    1.2600    0.7800    0.3000
    8.8428    0.5130    1.1400    0.9000    0.3000
    9.1855    0.5105    1.0200    1.0200    0.3000
    9.4455    0.5515    1.3800    0.7800    0.3000
    9.6539    0.5670    1.2600    0.9000    0.3000
    9.9568    0.5705    1.1400    1.0200    0.3000
   10.3966    0.6210    1.3800    0.9000    0.3000
   10.8041    0.6306    1.2600    1.0200    0.3000
   11.2243    0.6281    1.1400    1.1400    0.3000
   11.5987    0.6906    1.3800    1.0200    0.3000
   11.9490    0.6942    1.2600    1.1400    0.3000
   12.8679    0.7604    1.3800    1.1400    0.3000
   13.3560    0.7580    1.2600    1.2600    0.3000
   14.2303    0.8302    1.3800    1.2600    0.3000
   12.7404    0.7649    1.1400    0.9000    0.4200
   13.2435    0.7560    1.0200    1.0200    0.4200
   15.5346    0.9001    1.3800    1.3800    0.3000
   13.9165    0.8455    1.2600    0.9000    0.4200
   14.4656    0.8449    1.1400    1.0200    0.4200
   15.1265    0.9260    1.3800    0.9000    0.4200
   15.4837    0.9339    1.2600    1.0200    0.4200
   16.2439    0.9251    1.1400    1.1400    0.4200
   16.4666    1.0432    1.2600    0.7800    0.5400
   16.7363    1.0228    1.3800    1.0200    0.4200
   17.2362    1.0225    1.2600    1.1400    0.4200
   17.5748    1.0266    1.0200    1.0200    0.5400
   17.9761    1.1426    1.3800    0.7800    0.5400
   18.4775    1.1199    1.3800    1.1400    0.4200
   19.4510    1.1113    1.2600    1.2600    0.4200
   18.9135    1.1474    1.1400    1.0200    0.5400
   20.3798    1.2172    1.3800    1.2600    0.4200
   20.4980    1.2682    1.2600    1.0200    0.5400
   21.1719    1.2498    1.1400    1.1400    0.5400
   21.9624    1.3231    1.0200    1.0200    0.6600
   22.5688    1.3146    1.3800    1.3800    0.4200
   21.9614    1.3890    1.3800    1.0200    0.5400
   22.8850    1.3814    1.2600    1.1400    0.5400
   23.5176    1.4788    1.1400    1.0200    0.6600
   24.6821    1.7141    1.2600    0.7800    0.7800
   24.2349    1.5130    1.3800    1.1400    0.5400
   25.2861    1.4950    1.2600    1.2600    0.5400
   26.1057    1.6460    1.0200    1.0200    0.7800
   26.9864    1.8774    1.3800    0.7800    0.7800
   25.1694    1.6344    1.2600    1.0200    0.6600
   26.2841    1.6031    1.1400    1.1400    0.6600
   26.6723    1.6373    1.3800    1.2600    0.5400
   27.4375    1.7901    1.3800    1.0200    0.6600
   28.2179    1.7718    1.2600    1.1400    0.6600
   30.4491    1.9958    1.0200    1.0200    0.9000
   29.6138    1.7620    1.3800    1.3800    0.5400
   30.3641    2.0333    1.2600    1.0200    0.7800
   29.9648    1.9406    1.3800    1.1400    0.6600
   31.4899    1.9098    1.2600    1.2600    0.6600
   32.7612    2.2306    1.1400    1.0200    0.9000
   34.9279    2.3729    1.0200    1.0200    1.0200
   32.6540    2.2270    1.3800    1.0200    0.7800
   32.9205    2.0917    1.3800    1.2600    0.6600
   35.4862    2.4655    1.2600    1.0200    0.9000
   36.5399    2.3977    1.1400    1.1400    0.9000
   37.3039    2.6521    1.1400    1.0200    1.0200
   36.2533    2.2432    1.3800    1.3800    0.6600
   36.9761    2.3565    1.2600    1.2600    0.7800
   37.8554    2.7003    1.3800    1.0200    0.9000
   38.8441    2.6501    1.2600    1.1400    0.9000
   40.2153    2.9313    1.2600    1.0200    1.0200
   41.5861    2.8400    1.1400    1.1400    1.0200
   38.9453    2.5809    1.3800    1.2600    0.7800
   41.4322    2.9025    1.3800    1.1400    0.9000
   42.3889    2.8357    1.2600    1.2600    0.9000
   42.4813    3.2104    1.3800    1.0200    1.0200
   42.5680    2.7590    1.3800    1.3800    0.7800
   43.8616    3.1389    1.2600    1.1400    1.0200
   46.4366    3.3128    1.1400    1.1400    1.1400
   45.0935    3.1058    1.3800    1.2600    0.9000
   46.8139    3.4379    1.3800    1.1400    1.0200
   48.0944    3.3479    1.2600    1.2600    1.0200
   49.1066    3.6616    1.2600    1.1400    1.1400
   48.9555    3.3101    1.3800    1.3800    0.9000
   49.9600    3.6668    1.3800    1.2600    1.0200
   51.5439    4.0103    1.3800    1.1400    1.1400
   53.3726    3.8936    1.2600    1.2600    1.1400
   54.6575    3.8969    1.3800    1.3800    1.0200
   55.4739    4.2644    1.3800    1.2600    1.1400
   58.0997    4.4730    1.2600    1.2600    1.2600
   60.1194    4.5200    1.3800    1.3800    1.1400
   59.9018    4.8990    1.3800    1.2600    1.2600
   65.1913    5.1798    1.3800    1.3800    1.2600
   69.3312    5.8765    1.3800    1.3800    1.3800

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