5自由度串联机械臂实现搬运物品功能

机器谱 · 发表于 2023-3-24 09:35:01

本帖最后由机器谱于 2023-3-24 09:35 编辑

1. 功能描述
本文提供的示例所实现的功能为：实现5自由度串联机械臂搬运物品的功能。

2. 电子硬件
在这个示例中，我们采用了以下硬件，请大家参考：

主控板	Basra主控板（兼容Arduino Uno）
扩展板	Bigfish2.1扩展板
舵机	270°伺服电机、标准舵机
电池	7.4V锂电池

电路连接说明：
舵机接线：由上至下依次连接在Bigfish扩展板的D4、D7、D11、D3、D8、D12接口上。

3. 功能实现
上位机：Controller 1.0
下位机编程环境：Arduino 1.8.19
3.1初始位置的设定
① 将Controller下位机程序servo_bigfish.ino直接下载到主控板。这段代码供Controller上位机与主控板通信，并允许调试舵机。代码如下：

/*------------------------------------------------------------------------------------
版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2023-02-20 https://www.robotway.com/
------------------------------
/*
* Bigfish扩展板舵机口; 4, 7, 11, 3, 8, 12, 14, 15, 16, 17, 18, 19
* 使用软件调节舵机时请拖拽对应序号的控制块
*/
#include <Servo.h>
#define ANGLE_VALUE_MIN 0
#define ANGLE_VALUE_MAX 180
#define PWM_VALUE_MIN 500
#define PWM_VALUE_MAX 2500
#define SERVO_NUM 12
Servo myServo[SERVO_NUM];
int data_array[2] = {0,0}; //servo_pin: data_array[0], servo_value: data_array[1];
int servo_port[SERVO_NUM] = {4, 7, 11, 3, 8, 12, 14, 15, 16, 17, 18, 19};
int servo_value[SERVO_NUM] = {};
String data = "";
boolean dataComplete = false;
void setup() {
Serial.begin(9600);
}
void loop() {
while(Serial.available())
{
int B_flag, P_flag, T_flag;
data = Serial.readStringUntil('\n');
data.trim();
for(int i=0;i<data.length();i++)
{
//Serial.println(data[i]);
switch(data[i])
{
case '#':
B_flag = i;
break;
case 'P':
{
String pin = "";
P_flag = i;
for(int i=B_flag+1;i<P_flag;i++)
{
pin+=data[i];
}
data_array[0] = pin.toInt();
}
break;
case 'T':
{
String angle = "";
T_flag = i;
for(int i=P_flag+1;i<T_flag;i++)
{
angle += data[i];
}
data_array[1] = angle.toInt();
servo_value[pin2index(data_array[0])] = data_array[1];
}
break;
default: break;
}
}
/*
Serial.println(B_flag);
Serial.println(P_flag);
Serial.println(T_flag);
for(int i=0;i<2;i++)
{
Serial.println(data_array[i]);
}
*/
dataComplete = true;
}
if(dataComplete)
{
for(int i=0;i<SERVO_NUM;i++)
{
ServoGo(i, servo_value[i]);
/*********************************串口查看输出***********************************/
// Serial.print(servo_value[i]);
// Serial.print(" ");
}
// Serial.println();
/*********************************++++++++++++***********************************/
dataComplete = false;
}
}
void ServoStart(int which){
if(!myServo[which].attached() && (servo_value[which] != 0))myServo[which].attach(servo_port[which]);
else return;
pinMode(servo_port[which], OUTPUT);
}
void ServoStop(int which){
myServo[which].detach();
digitalWrite(servo_port[which],LOW);
}
void ServoGo(int which , int where){
ServoStart(which);
if(where >= ANGLE_VALUE_MIN && where <= ANGLE_VALUE_MAX)
{
myServo[which].write(where);
}
else if(where >= PWM_VALUE_MIN && where <= PWM_VALUE_MAX)
{
myServo[which].writeMicroseconds(where);
}
}
int pin2index(int _pin){
int index;
switch(_pin)
{
case 4: index = 0; break;
case 7: index = 1; break;
case 11: index = 2; break;
case 3: index = 3; break;
case 8: index = 4; break;
case 12: index = 5; break;
case 14: index = 6; break;
case 15: index = 7; break;
case 16: index = 8; break;
case 17: index = 9; break;
case 18: index = 10; break;
case 19: index = 11; break;
}
return index;
}

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下载完成后，保持主控板和电脑的USB连接，以便利用上位机进行调试。
② 双击打开Controller 1.0b.exe：

③ 界面左上角选择：设置-面板设置，弹出需要显示的调试块，可通过勾选隐藏不需要调试的舵机块：联机-选择主控板对应端口号以及波特率。

④ 拖动进度条，可以观察相应的舵机角度转动。写好对应的舵机调试角度，勾选左下角添加-转化，获得舵机调试的数组：

⑤ 将该数组直接复制到相应的Arduino程序中的get_coordinate（）部分进行使用。
3.2调试好角度后，将机械臂搬运例程（5df_handling.ino）下载到主控板：

/*------------------------------------------------------------------------------------
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2023-02-20 https://www.robotway.com/
------------------------------*/
/*
本程序要实现一个5自由度串联机械臂搬运物品的功能。
由机械臂从夹爪到底座的舵机依次连接在Bigfish扩展板的D4、D7、D11、D3、D8、D12接口上。
*/
#define EYEINIT 174
#define HEADINIT 90
#define NECKINIT 124
#define UPBODYINIT 72
#define DOWNBODYINIT 100
#define FOOTINIT 88
#define EYE0 130
#define HEAD0 90
#define NECK0 170
#define UPBODY0 160
#define DOWNBODY0 79
#define FOOT0 36
#define EYE1 130
#define HEAD1 90
#define NECK1 170
#define UPBODY1 160
#define DOWNBODY1 80
#define FOOT1 130
#include<Wire.h>
#include <Servo.h>
#define PIN_SERVO_EYE 4 //定义各个舵机所对应的端口;
#define PIN_SERVO_HEAD 7
#define PIN_SERVO_NECK 11
#define PIN_SERVO_UPBODY 3
#define PIN_SERVO_DOWNBODY 8
#define PIN_SERVO_FOOT 12
#define OPERATE_TIME 3000
#define SERVO_EYE 0 //定义各个舵机所对应的端口;
#define SERVO_HEAD 1
#define SERVO_NECK 2
#define SERVO_UPBODY 3
#define SERVO_DOWNBODY 4
#define SERVO_FOOT 5
int servoPin[6] = {PIN_SERVO_EYE, PIN_SERVO_HEAD, PIN_SERVO_NECK, PIN_SERVO_UPBODY,PIN_SERVO_DOWNBODY,PIN_SERVO_FOOT};
Servo myServo[6];
void setup() {
// put your setup code here, to run once:
delay(1000);
Serial.begin(9600);
resetArm();
}
void loop() {
// put your main code here, to run repeatedly:
resetArm(); //机械臂复位
getCube(); //机械臂开始抓取货物
putCube(); //机械臂开始释放货物
delay(2000);//等待2秒
}
void resetArm(){ //舵机复位函数;
for(int i = 0; i < 6; i++)
myServo[i].attach(servoPin[i]);
myServo[SERVO_EYE].write(EYEINIT);
myServo[SERVO_HEAD].write(HEADINIT);
myServo[SERVO_NECK].write(NECKINIT);
myServo[SERVO_UPBODY].write(UPBODYINIT);
myServo[SERVO_DOWNBODY].write(DOWNBODYINIT);
myServo[SERVO_FOOT].write(FOOTINIT);
delay(1500);
}
void getCube(){ //抓取物料动作序列函数;
ServoMove(SERVO_FOOT, FOOTINIT, FOOT0, OPERATE_TIME);
ServoMove(SERVO_UPBODY, UPBODYINIT,UPBODY0, OPERATE_TIME);
ServoMove(SERVO_HEAD, HEADINIT, HEAD0, OPERATE_TIME);
ServoMove(SERVO_NECK, NECKINIT, NECK0, OPERATE_TIME);
ServoMove(SERVO_EYE, EYEINIT, EYE0, OPERATE_TIME);
ServoMove(SERVO_DOWNBODY, DOWNBODYINIT, DOWNBODY0, OPERATE_TIME);
ServoMove(SERVO_HEAD, HEAD0, HEADINIT, OPERATE_TIME);
ServoMove(SERVO_UPBODY, UPBODY0, UPBODYINIT, OPERATE_TIME);
ServoMove(SERVO_EYE, EYE0, EYEINIT, OPERATE_TIME);
ServoMove(SERVO_NECK, NECK0, NECKINIT, OPERATE_TIME);
ServoMove(SERVO_DOWNBODY, DOWNBODY0, DOWNBODYINIT, OPERATE_TIME);
}
void putCube() //机械臂开始释放货物
{
ServoMove(SERVO_FOOT, FOOT0, FOOT1 , OPERATE_TIME);
ServoMove(SERVO_HEAD, HEADINIT, HEAD1, OPERATE_TIME);
ServoMove(SERVO_NECK, NECKINIT, NECK1, OPERATE_TIME);
ServoMove(SERVO_UPBODY, UPBODYINIT,UPBODY1, OPERATE_TIME);
ServoMove(SERVO_EYE, EYEINIT, EYE1, OPERATE_TIME);
ServoMove(SERVO_DOWNBODY, DOWNBODYINIT, DOWNBODY1, OPERATE_TIME);
ServoMove(SERVO_HEAD, HEAD1, HEADINIT, OPERATE_TIME);
ServoMove(SERVO_UPBODY, UPBODY1, UPBODYINIT, OPERATE_TIME);
ServoMove(SERVO_EYE, EYE1, EYEINIT, OPERATE_TIME);
ServoMove(SERVO_NECK, NECK1, NECKINIT, OPERATE_TIME);
ServoMove(SERVO_DOWNBODY, DOWNBODY1, DOWNBODYINIT, OPERATE_TIME);
ServoMove(SERVO_FOOT, FOOT1, FOOTINIT , OPERATE_TIME);
}
void ServoMove(int which, int _start, int _finish, long t) //舵机动作函数:它有四个参数,舵机号,初始角度,目标角度,动作时间;
{
static int direct;
static int diff;
static long deltaTime;
if(_start <= _finish)
direct = 1;
else
direct = -1;
diff = abs(_finish - _start);
deltaTime = (long) (t / 180);
for(int i = 0; i < diff; i++){
myServo[which].write(_start + i * direct);
Serial.println(_start + i * direct);
delay(deltaTime);
}
}

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4. 资料下载
资料内容：
①Arduino搬运-例程源代码
②Controller1.0b资料包
资料下载地址：https://www.robotway.com/h-col-192.html

想了解更多机器人开源项目资料请关注机器谱网站 https://www.robotway.com

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