w16

W16_exam 壓縮檔下載:W16_exam.7z

Onshape 零件繪製

Onshape連結https://cad.onshape.com/documents/54ba2064aa192862e166a450/w/eabdbc707e030efccdde3883/e/8ad494a807c3d1613913ac39

Onshape零件和場景設定零件下載:MTB_ROBOT.stl

MTB_Robot加入吸盤和鍵盤控制方塊取放檔案下載:鍵盤控制.7z

鍵盤控制ascii碼對應表:https://tool.oschina.net/commons?type=4

迴圈方塊取放和Python remote API 檔案下載:迴圈和PYTHON.7z

迴圈執行程式碼:

function moving(x,y)--[moving (x,y)為角度計算利用求出面積來得到所需邊長在使用三角函數求所需角度]--
    a=0.47
    b=0.4
    c=math.pow((math.pow(x,2)+math.pow(y,2)),0.5)
    s=(a+b+c)/2
    area=math.pow((s*(s-a)*(s-b)*(s-c)),0.5)
    h=2*area/c
    deg1_base=math.atan(x/y)
    if x<0 and y<0 then
        deg1_base=deg1_base+math.pi
    end
    deg1_tri=math.asin(h/a)
    deg1=deg1_base+deg1_tri
    deg2=math.pi-(0.5*math.pi-deg1_tri)-math.acos(h/b)
    deg3=deg2-deg1
    sim.setJointTargetPosition(joint01,deg1)
    sim.setJointTargetPosition(joint02,-deg2)
    sim.setJointTargetPosition(joint03,deg3)
end
function sysCall_threadmain()
    joint01=sim.getObjectHandle('MTB_axis1')--[設定名稱對應v-rep的軸]--
    joint02=sim.getObjectHandle('MTB_axis2')
    joint03=sim.getObjectHandle('MTB_axis3')
    jointz=sim.getObjectHandle('MTB_axis4')
    sim.setJointTargetPosition(joint01,0)--將軸的位置歸零
    sim.setJointTargetPosition(joint02,0)
    sim.setJointTargetPosition(joint03,0)
    sim.setJointTargetPosition(jointz,0)
    sim.setIntegerSignal("pad_switch",1)--吸盤1實為開啟0為關閉
    sim.setJointTargetPosition(jointz,-0.07)--吸盤向下0.07
    sim.wait(5)
    sim.setJointTargetPosition(jointz,0)
    while sim.getSimulationState()~=sim.simulation_advancing_abouttostopre do--迴圈執行以下動作while後為執行條件
    moving(0.2,0.7)--將x=0.2y=0.7帶入moving副函式
    sim.wait(5)--等待5秒
    sim.setIntegerSignal("pad_switch",0)
    print(0.2,0.7,0.05)
    sim.wait(5)
    sim.setIntegerSignal("pad_switch",1)
    sim.setJointTargetPosition(jointz,-0.07)
    sim.wait(5)
    sim.setJointTargetPosition(jointz,0)
    sim.wait(5)
    moving(-0.3,-0.55)
    sim.wait(2)
    sim.setIntegerSignal("pad_switch",0)
    print(-0.3,-0.55,0.05)
    sim.wait(5)
    sim.setIntegerSignal("pad_switch",1)
    sim.setJointTargetPosition(jointz,-0.07)
    sim.wait(5)
    sim.setJointTargetPosition(jointz,0)
    sim.wait(5)
    end

end

python程式碼:

import sim as vrep
import math
import random
import time
import math

def moving(x,y):
        a=0.47 #運算角度副程式
        b=0.4
        c=math.pow((math.pow(x,2)+math.pow(y,2)),0.5)
        s=(a+b+c)/2
        area=math.pow((s*(s-a)*(s-b)*(s-c)),0.5)
        h=2*area/c
        deg1_base=math.atan(x/y)
        if x<0 and y<0 :
            deg1_base=deg1_base+math.pi
        deg1_tri=math.asin(h/a)
        deg1=deg1_base+deg1_tri
        deg2=math.pi-(0.5*math.pi-deg1_tri)-math.acos(h/b)
        deg3=deg2-deg1
        vrep.simxSetJointTargetPosition(clientID,joint01,deg1,opmode)#設定deg對應的軸
        vrep.simxSetJointTargetPosition(clientID,joint02,-deg2,opmode)
        vrep.simxSetJointTargetPosition(clientID,joint03,deg3,opmode)

print ('Start')
 
vrep.simxFinish(-1)
 
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)

if clientID != -1:
    print ('Connected to remote API server')

    res = vrep.simxAddStatusbarMessage(
        clientID, "40823234",
        vrep.simx_opmode_oneshot)
    if res not in (vrep.simx_return_ok, vrep.simx_return_novalue_flag):
        print("Could not add a message to the status bar.")


    opmode = vrep.simx_opmode_oneshot_wait
    STREAMING = vrep.simx_opmode_streaming


    vrep.simxStartSimulation(clientID, opmode)
    ret,joint01=vrep.simxGetObjectHandle(clientID,"MTB_axis1",opmode)#設定對應軸名稱
    ret,joint02=vrep.simxGetObjectHandle(clientID,"MTB_axis2",opmode)
    ret,joint03=vrep.simxGetObjectHandle(clientID,"MTB_axis3",opmode)
    ret,joint04=vrep.simxGetObjectHandle(clientID,"MTB_axis4",opmode)
    
    vrep.simxSetJointTargetPosition(clientID,joint01,0,opmode)#軸位置歸零
    vrep.simxSetJointTargetPosition(clientID,joint02,0,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint03,0,opmode)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)#吸盤開啟=1 關閉=0
    vrep.simxSetJointTargetPosition(clientID,joint04,-0.07,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,joint04,0,opmode)
while True:#迴圈執行直到break it
    moving(0.2,0.7)#0.2 0.7副程式運算
    time.sleep(1)#停一秒
    vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint04,-0.07,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,joint04,0,opmode)
    time.sleep(1)
    moving(-0.3,-0.55)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint04,-0.07,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,joint04,0,opmode)
    time.sleep(1)

40823214 教學紀錄影片:

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