基于arduino UNO控制的四自由度机械手臂物体的抓取

四自由度机械臂

机械臂物体抓取

本次代码可以实现的目的：

1末端在一个yoz平面上画一个正方形

2物品的抓取

#include <Servo.h>
#define l1 105  //机械臂的参数
#define l2 100
#define l3 105
Servo myservo1, myservo2, myservo3, myservo4, myservo5, myservo6;

float Speed =25;   //舵机速度
float theta1 = 90, theta2, theta3, theta4, theta5 = 90, theta6 = 90;
float y = 150, z = 300, theta = 90, alpha = 0;
/**************************************************************************
  函数功能：数学模型
  入口参数：末端执行器位姿态
  返回  值：无
**************************************************************************/
void Kinematic_Analysis(float y, float z, float theta, float Alpha)       //Alpha=[0,180]
{
  float m, n, k, a, b, c;
  m = y - l3 * cos(Alpha); //中间变量
  n = z - l3 * sin(Alpha) - 108; //中间变量

  k = (l1 * l1 + m * m + n * n - l2 * l2) / 2 / l1;
  a = m * m + n * n;
  b = -2 * k * m;
  c = k * k - n * n;
  if ((b * b - 4 * a * c) >= 0)
  {
    theta2 = (-b - sqrt(b * b - 4 * a * c)) / 2 / a;
    theta2 = asin(theta2) * 180 / PI;
  }

  k = (l2 * l2 + m * m + n * n - l1 * l1) / 2 / l2;
  a = m * m + n * n;
  b = -2 * k * m;
  c = k * k - n * n;
  if ((b * b - 4 * a * c) >= 0)
  {
    theta3 = (-b + sqrt(b * b - 4 * a * c)) / 2 / a;
    theta3 = asin(theta3) * 180 / PI;
  }
  
  theta3 = theta3 - theta2;
  theta2 = 90 - theta2 - 3;    //3du error
  theta3 = 90 - theta3;
  theta4 = 180 - theta2 - theta3 + Alpha;
  theta1 = theta;
  
  if (theta1 > 180)
    theta1 = 180;
  if (theta2 > 180)
    theta2 = 180;
  if (theta3 > 180)
    theta3 = 180;
  if (theta4 > 180)
    theta4 = 180;
  if (theta5 > 180)
    theta5 = 180;
  if (theta6 > 180)
    theta6 = 180;
  if (theta1 < 0)
    theta1 = 0;
  if (theta2 < 0)
    theta2 = 0;
  if (theta3 < 0)
    theta3 = 0;
  if (theta4 < 0)
    theta4 = 0;
  if (theta5 < 0)
    theta5 = 0;
  if (theta6 < 0)
    theta6 = 0;

}

/******************************************************
  开始转动,每个舵机同时到达指定地点
*******************************************************/
void go()
{ 
  float a,b,c,d,e,f;
  a = myservo1.read();
  b = myservo2.read();
  c = myservo3.read();
  d = myservo4.read();
  e = myservo5.read();
  f = myservo6.read();
  unsigned long starttime;
  starttime = millis();
  while ((millis() - starttime) < 4000)           //类似于P控制
  {
   a=a-(a-theta1)/20.00;
   myservo1.write(a);
   b=b-(b-theta2)/20.00;
   myservo2.write(b);
   c=c-(c-theta3)/20.00;
   myservo3.write(c);
   d=d-(d-theta4)/20.00;
   myservo4.write(d);
   e=e-(e-theta5)/20.00;
   myservo5.write(e);
   f=f-(f-theta6)/20.00;
   myservo6.write(f);
   delay(50 - Speed);
  }
}
/******************************************************
  setup初始化
*******************************************************/

void setup()   {
  myservo1.attach(10, 500, 2500);           //初始化各个舵机
  myservo2.attach(9);
  myservo3.attach(8);
  myservo4.attach(7);
  myservo5.attach(6);
  myservo6.attach(5, 500, 2500);
  myservo1.write(theta);
  myservo2.write(theta - 3);
  myservo3.write(theta);
  myservo4.write(theta);
  myservo5.write(theta);
  myservo6.write(theta);
  delay(3000);
  Serial.begin(9600);
}

/******************************************************
 沿正方形轨迹运动
*******************************************************/
void loop() {
  Kinematic_Analysis(y, z, theta, alpha)；
  go();
  Kinematic_Analysis(y-50, z,theta, alpha);
  go();
  Kinematic_Analysis(y-50, z-50, theta,alpha);
  go();
  Kinematic_Analysis(y, z-50 ,theta, alpha);
  go();
  
}


/******************************************************
  抓取物品
*******************************************************/
//void loop()   {
//
//  Kinematic_Analysis(125, 100, 90, -90);theta5=50;
//  go();theta5=100;go();
//  Kinematic_Analysis(150, 300,90, 0);
//  go();
//  Kinematic_Analysis(150, 300, 0,0);
//  go();
//  Kinematic_Analysis(120, 80 ,0, -90);
//  go();theta5=50;go();
//
//}