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W16

W16_exam_keyboard.7z:https://drive.google.com/file/d/1J6-V4aEV9wcSw2fcPES_XP3-EGOSKYOD/view?usp=sharing

W16_exam.7z(Lua逆向運動學):https://drive.google.com/file/d/1iCFnTyEoXctNd_d9t4YPJWqdarLVf4QA/view?usp=sharing

組合圖共享:https://cad.onshape.com/documents/2ecc470bc373c9342368bed2/w/6bdf8005b9ef1065a7abdc8b/e/acaa0fb4e7125ba22bf48671

coppeliasim場景建立

LUA鍵盤轉動示範

Leo鍵盤控制+吸盤

function sysCall_init() 
    joint=sim.getObjectHandle('Revolute_joint')
    joint1=sim.getObjectHandle('Revolute_joint0')
    pjoint=sim.getObjectHandle('Prismatic_joint')
    suctionPad=sim.getObjectHandle('suctionPad')
    position=0
    dig=1
end
function sysCall_actuation()
    message,auxiliaryData=sim.getSimulatorMessage()
    while message~=-1 do
        if (message==sim.message_keypress) then
            print(auxiliaryData[1])
            if (auxiliaryData[1]==2009) then
                position=position-dig
                sim.setJointTargetPosition(joint,position*math.pi/180)
            end
            if (auxiliaryData[1]==2010) then
                position=position+dig
                sim.setJointTargetPosition(joint,position*math.pi/180)
            end
            if (auxiliaryData[1]==2007) then
                sim.setJointTargetPosition(pjoint,0.14)
            end
            if (auxiliaryData[1]==2008) then
                sim.setJointTargetPosition(pjoint,-0.14)
            end
            if (auxiliaryData[1]==100) then
                position=position+dig
                sim.setJointTargetPosition(joint1,position*math.pi/180)
            end
            if (auxiliaryData[1]==97) then
                position=position-dig
                sim.setJointTargetPosition(joint1,position*math.pi/180)
            end
            if (auxiliaryData[1]==112) then --press p to deactivate
sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','false')
            end
            if (auxiliaryData[1]==111) then --press o to activate
sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','true')
            end
        end
        message,auxiliaryData=sim.getSimulatorMessage()
    end
end

吸盤程式

function sysCall_init() 
    s=sim.getObjectHandle('suctionPadSensor')
    l=sim.getObjectHandle('suctionPadLoopClosureDummy1')
    l2=sim.getObjectHandle('suctionPadLoopClosureDummy2')
    b=sim.getObjectHandle('suctionPad')
    suctionPadLink=sim.getObjectHandle('suctionPadLink')

    infiniteStrength=sim.getScriptSimulationParameter(sim.handle_self,'infiniteStrength')
    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() 
--[[
    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)
    if (sim.getScriptSimulationParameter(sim.handle_self,'active')==false) 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
            -- Here we want to detect a respondable shape, and then connect to it with a force sensor (via a loop closure dummy dummy link)
            -- However most respondable shapes are set to "non-detectable", so "sim.readProximitySensor" or similar will not work.
            -- But "sim.checkProximitySensor" or similar will work (they don't check the "detectable" flags), but we have to go through all shape objects!
            index=0
            while true do
                shape=sim.getObjects(index,sim.object_shape_type)
                if (shape==-1) then
                    break
                end
                if (shape~=b) and (sim.getObjectInt32Parameter(shape,sim.shapeintparam_respondable)~=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
    if (sim.getSimulationState()==sim.simulation_advancing_lastbeforestop) then
        sim.setLinkDummy(l,-1)
        sim.setObjectParent(l,b,true)
        m=sim.getObjectMatrix(l2,-1)
        sim.setObjectMatrix(l,-1,m)
    end
end

逆向運動學函式

function sysCall_init() 
    joint=sim.getObjectHandle('Revolute_joint')
    joint1=sim.getObjectHandle('Revolute_joint0')
    pjoint=sim.getObjectHandle('Prismatic_joint')
    suctionPad=sim.getObjectHandle('suctionPad')
    position=0
    dig=1
    last_time=1

end

function sysCall_actuation()
sim.setJointTargetPosition(pjoint,-0.14)
sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','true')
        if ((sim.getSimulationTime()-last_time)>2) then
          sim.setJointTargetPosition(pjoint,0.14)
        end
        if ((sim.getSimulationTime()-last_time)>4) then
          sim.setJointTargetPosition(joint,34.05*math.pi/180)
          sim.setJointTargetPosition(joint1,-90*math.pi/180)
        end
        if ((sim.getSimulationTime()-last_time)>10) then
          sim.setJointTargetPosition(pjoint,-0.14)
          sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','false')
        end
        if ((sim.getSimulationTime()-last_time)>12) then
          sim.setJointTargetPosition(pjoint,0.14)
        end
        if ((sim.getSimulationTime()-last_time)>14) then
          sim.setJointTargetPosition(pjoint,-0.14)
          sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','true')
        end
        if ((sim.getSimulationTime()-last_time)>18) then
          sim.setJointTargetPosition(pjoint,0.14)
        end
        if ((sim.getSimulationTime()-last_time)>20) then
          sim.setJointTargetPosition(joint1,61.1*math.pi/180)
          sim.setJointTargetPosition(joint,77.8*math.pi/180)
        end
        if ((sim.getSimulationTime()-last_time)>30) then
          sim.setJointTargetPosition(pjoint,-0.14)
          sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','false')
        end
        if ((sim.getSimulationTime()-last_time)>32) then
          sim.setJointTargetPosition(pjoint,0.14)
        end
        if ((sim.getSimulationTime()-last_time)>34) then
          sim.setJointTargetPosition(pjoint,-0.14)
          sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','true')
        end
        if ((sim.getSimulationTime()-last_time)>36) then
          sim.setJointTargetPosition(pjoint,0.14)
        end
        if ((sim.getSimulationTime()-last_time)>38) then
          sim.setJointTargetPosition(joint1,-90*math.pi/180)
          sim.setJointTargetPosition(joint,34.05*math.pi/180)
        end
        if ((sim.getSimulationTime()-last_time)>48) then
          sim.setJointTargetPosition(pjoint,-0.14)
          sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','false')
        end
        if ((sim.getSimulationTime()-last_time)>50) then
          sim.setJointTargetPosition(pjoint,0.14)
        end
end

影片字幕整理 << Previous