CoppeliaSim(原Vrep)中实现多关节机械臂的逆运动学仿真(path-tip)

本章需要在机械臂逆运动学(tar-tip)完成的前提下完成

传送门：CoppeliaSim(原Vrep)中实现多关节机械臂的逆运动学仿真(tar-tip)

1）add -> dummy 添加path的路径点

设置好位置后按顺序将dummy重命名为同样的==“字符串+数字排序”==（例如：tar1，tar2，tar3）

为了之后在程序中用for循环遍历dummy句柄

2）代码实现

function sysCall_threadmain()
    -- Put some initialization code here


    -- 初始化 获取变量句柄
    jointHandles={}
    for i = 1,4,1 do
        jointHandles[i] = sim.getObjectHandle('4j_Joint'..i)
    end
    ikTip = sim.getObjectHandle('RRRR_Tip')
    ikTarget = sim.getObjectHandle('RRRR_Tar')
    tarHandles = {} 
    for i = 1,6 do  -- 注意for循环区间要和有几个点对应
        tarHandles[i] = sim.getObjectHandle('tar'..i)
    end


    -- 设置机械臂的关节空间运动属性
    --[[
    local accel = 0.5
    local jerk  = 0.5
    local vel   = 0.5
    local currentVel   = {0,0,0,0}
    local currentAccel = {0,0,0,0}
    local maxVel       = {vel,vel,vel,1.5*vel}
    local maxAccel     = {accel,accel,accel,accel}
    local maxJerk      = {jerk,jerk,jerk,jerk}
    local targetVel    = {0,0,0,0}
    ]]

    
    -- 设置笛卡尔空间运动属性,设置的是到达点的参数，有几个tar写几个值
    local currentVel   = {0,0,0,0,0,0}
    local currentAccel = {0,0,0,0,0,0}
    local maxVel    = {0.2,0.2,0.2,0.2,0.2,0.2}
    local maxAccel  = {1,1,1,1,1,1}
    local maxJerk   = {1,1,1,1,1,1}
    local targetPos = {0,0,0,0,0,0}
    local targetVel = {0,0,0,0,0,0}


    -- 主循环
    while sim.getSimulationState()~=sim.simulation_advancing_abouttostop do
        for i = 1,6 do
        sim.rmlMoveToPosition(ikTarget,tarHandles[i],-1,currentVel,currentAccel,maxVel,maxAccel,maxJerk,targetPos,nil,targetVel)
        -- 阻塞式函数，只能单步执行，当有多个机械臂时，只有一个动，其他不动
        end
    end
end

function sysCall_cleanup()
    -- Put some clean-up code here
    
    -- See the user manual or the available code snippets for additional callback functions and details
end

3）运行结果（跟上面代码不完全一样，本视频有24个路径点）

机械臂逆运动学路径