KRTMI 2019
/
Inverse_Kine_Lengan3
Boleh bisa langsung dicoba, tap servo base belum dikalibrasi
main.cpp@11:b84501ec1c12, 2019-05-14 (annotated)
- Committer:
- andremanurung
- Date:
- Tue May 14 16:59:04 2019 +0000
- Revision:
- 11:b84501ec1c12
- Parent:
- 10:e3e8d52b8083
- Child:
- 12:6db54df00e14
ada koordinat yang tidak mungkin;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
harrymunli | 0:9dfae2e18414 | 1 | #include "mbed.h" |
harrymunli | 0:9dfae2e18414 | 2 | #include "Servo.h" |
harrymunli | 0:9dfae2e18414 | 3 | |
andremanurung | 7:32fab84c1877 | 4 | //Programmed and formulated by Andre |
harrymunli | 0:9dfae2e18414 | 5 | /* Nama servo |
andremanurung | 7:32fab84c1877 | 6 | 4 |
andremanurung | 7:32fab84c1877 | 7 | 3 |
andremanurung | 7:32fab84c1877 | 8 | 1(L3) 2 |
andremanurung | 7:32fab84c1877 | 9 | 0 |
andremanurung | 7:32fab84c1877 | 10 | */ |
harrymunli | 0:9dfae2e18414 | 11 | |
andremanurung | 7:32fab84c1877 | 12 | Servo SL3_1(PC_8); //lengan3-ser1 |
andremanurung | 7:32fab84c1877 | 13 | Servo SL3_2(PC_6); //lengan3-ser2 |
andremanurung | 7:32fab84c1877 | 14 | Servo SL3_3(PA_11); //lengan3-ser3 |
andremanurung | 7:32fab84c1877 | 15 | Servo SL3_base(PB_2); //lengan3-servo base |
andremanurung | 7:32fab84c1877 | 16 | |
D4n1elR | 4:3db9524b9b63 | 17 | Serial pc(USBTX,USBRX); |
harrymunli | 0:9dfae2e18414 | 18 | |
andremanurung | 7:32fab84c1877 | 19 | //rumus mencari sudut phi |
andremanurung | 7:32fab84c1877 | 20 | double phi(float x, float y){ |
andremanurung | 7:32fab84c1877 | 21 | return atan(y/x); |
andremanurung | 7:32fab84c1877 | 22 | } |
andremanurung | 7:32fab84c1877 | 23 | |
andremanurung | 7:32fab84c1877 | 24 | //rumus mencari x yg dipengaruhi phi |
andremanurung | 7:32fab84c1877 | 25 | double x_phi(float x, float y){ |
andremanurung | 7:32fab84c1877 | 26 | return x/cos(phi(x,y)); |
andremanurung | 7:32fab84c1877 | 27 | } |
andremanurung | 7:32fab84c1877 | 28 | |
andremanurung | 7:32fab84c1877 | 29 | //rumus teta2+teta1 |
andremanurung | 7:32fab84c1877 | 30 | double rum_tet(float sdt, float x, float y, float r1, float r2){ |
andremanurung | 7:32fab84c1877 | 31 | double tet_dou = asin((x_phi(x,y)-r1*sin(sdt))/r2); |
andremanurung | 7:32fab84c1877 | 32 | float tet = (float) tet_dou; |
andremanurung | 7:32fab84c1877 | 33 | return tet; |
andremanurung | 7:32fab84c1877 | 34 | } |
andremanurung | 7:32fab84c1877 | 35 | |
andremanurung | 7:32fab84c1877 | 36 | //rumus untuk menentukan sudut teta1 terbaik (harus mendekati 0) |
andremanurung | 7:32fab84c1877 | 37 | //didapat dari substitusi dua rumus diatas |
andremanurung | 7:32fab84c1877 | 38 | double diffe(float sdt,float x, float y, float z, float r1, float r2){ |
andremanurung | 7:32fab84c1877 | 39 | double dif_dou = -z+r1*cos(sdt)+r2*cos(rum_tet(sdt,x,y,r1,r2)); |
andremanurung | 7:32fab84c1877 | 40 | float dif = (float) dif_dou; |
andremanurung | 7:32fab84c1877 | 41 | return dif; |
andremanurung | 7:32fab84c1877 | 42 | } |
andremanurung | 7:32fab84c1877 | 43 | |
andremanurung | 7:32fab84c1877 | 44 | //-------------------------------------------------------------------- |
andremanurung | 7:32fab84c1877 | 45 | //-------------------------------------------------------------------- |
andremanurung | 7:32fab84c1877 | 46 | |
harrymunli | 0:9dfae2e18414 | 47 | int main() { |
andremanurung | 7:32fab84c1877 | 48 | float xt=0.00; float yt=0.00; float zt=0.00; //x, y, dan z tujuan |
andremanurung | 7:32fab84c1877 | 49 | float r1=10.00; float r2=18.00; //panjang potongan lengan dalam cm |
andremanurung | 7:32fab84c1877 | 50 | //------batas servo------ |
andremanurung | 7:32fab84c1877 | 51 | float R1=-50.00; float T1=110; //R : sudut terendah |
andremanurung | 7:32fab84c1877 | 52 | float R2=-40.00; float T2=T1; //T : sudut tertinggi |
andremanurung | 7:32fab84c1877 | 53 | float R3=R1; float T3=140.00; |
andremanurung | 7:32fab84c1877 | 54 | float deg=0.00; float rad=0.00; |
andremanurung | 7:32fab84c1877 | 55 | //------batas servo------ |
andremanurung | 7:32fab84c1877 | 56 | float pi = 3.14159265359; |
andremanurung | 7:32fab84c1877 | 57 | float kons = 0.01; //konstanta efektif inverse (dari percobaan) |
andremanurung | 7:32fab84c1877 | 58 | float awal = 0.00; //sudut awal servo (0) |
andremanurung | 8:cd8edcd62c54 | 59 | float teta1=0.00; //sudut servo 1 dan 2 (dlm derajat) |
andremanurung | 8:cd8edcd62c54 | 60 | float teta2=0.00; //sudut servo 3 (dlm derajat) |
andremanurung | 7:32fab84c1877 | 61 | float phis=0.00; //sudut servo 0 (dlm derajat) |
harrymunli | 0:9dfae2e18414 | 62 | |
andremanurung | 7:32fab84c1877 | 63 | pc.baud(9600); |
andremanurung | 7:32fab84c1877 | 64 | SL3_1.calibrate(0.001,120); //harus kalibrasi (0.001,120) |
andremanurung | 7:32fab84c1877 | 65 | SL3_2.calibrate(0.001,120); |
andremanurung | 7:32fab84c1877 | 66 | SL3_3.calibrate(0.001,120); |
andremanurung | 7:32fab84c1877 | 67 | SL3_base.calibrate(0.001,120); |
andremanurung | 7:32fab84c1877 | 68 | |
harrymunli | 1:9284c57e84da | 69 | while(1){ |
andremanurung | 7:32fab84c1877 | 70 | SL3_1.position(((-1)*awal+51)*1.10); //semua ke sudut 0 |
andremanurung | 7:32fab84c1877 | 71 | SL3_2.position((awal-75)*1.05); |
andremanurung | 7:32fab84c1877 | 72 | SL3_3.position((awal-51)*1.14); |
andremanurung | 7:32fab84c1877 | 73 | SL3_base.position(awal); // B E L U M D I K A L I B R A S I |
andremanurung | 7:32fab84c1877 | 74 | |
andremanurung | 9:cc9c6244cb76 | 75 | pc.printf("Masukkan koordinat x,y dan z berurutan : "); |
andremanurung | 7:32fab84c1877 | 76 | pc.scanf("%f",&xt); //input komponen x |
andremanurung | 7:32fab84c1877 | 77 | pc.scanf("%f",&yt); //input komponen y (rotasi base) |
andremanurung | 7:32fab84c1877 | 78 | pc.scanf("%f",&zt); //input komponen z (tinggi) |
andremanurung | 7:32fab84c1877 | 79 | |
andremanurung | 7:32fab84c1877 | 80 | //Command dibawah dilakukan untuk mencegah pembagian 0 dan 0 |
andremanurung | 7:32fab84c1877 | 81 | //karena bisa math.error |
andremanurung | 7:32fab84c1877 | 82 | if(xt=0.00){ |
andremanurung | 7:32fab84c1877 | 83 | xt+=0.1; |
andremanurung | 7:32fab84c1877 | 84 | }else if(xt=r1+r2){ |
andremanurung | 7:32fab84c1877 | 85 | xt-=0.1; |
andremanurung | 7:32fab84c1877 | 86 | } |
andremanurung | 7:32fab84c1877 | 87 | if(yt=0.00){ |
andremanurung | 7:32fab84c1877 | 88 | yt+=0.1; |
andremanurung | 7:32fab84c1877 | 89 | }else if(yt=r1+r2){ |
andremanurung | 7:32fab84c1877 | 90 | yt-=0.1; |
andremanurung | 7:32fab84c1877 | 91 | } |
andremanurung | 7:32fab84c1877 | 92 | if(zt=0.00){ |
andremanurung | 7:32fab84c1877 | 93 | zt+=0.1; |
andremanurung | 7:32fab84c1877 | 94 | }else if(zt=r1+r2){ |
andremanurung | 7:32fab84c1877 | 95 | zt-=0.1; |
andremanurung | 7:32fab84c1877 | 96 | } |
D4n1elR | 6:38fb058f5827 | 97 | |
andremanurung | 7:32fab84c1877 | 98 | //-------mulai proses teta1-------- |
andremanurung | 7:32fab84c1877 | 99 | deg = R1; //mulai tes looping dari sudut terendah (R1) |
andremanurung | 7:32fab84c1877 | 100 | while (deg<T1) { |
andremanurung | 7:32fab84c1877 | 101 | deg+=0.1; |
andremanurung | 7:32fab84c1877 | 102 | rad=deg*pi/180; |
andremanurung | 10:e3e8d52b8083 | 103 | if(kons>abs(diffe(rad,xt,yt,zt,r1,r2))){ //jika diffe mendekati 0 (<0.01) dan bukan nan, |
andremanurung | 7:32fab84c1877 | 104 | break; //maka sudut tersebut memenuhi |
andremanurung | 7:32fab84c1877 | 105 | } |
andremanurung | 7:32fab84c1877 | 106 | } |
andremanurung | 11:b84501ec1c12 | 107 | |
andremanurung | 11:b84501ec1c12 | 108 | if(deg==110.1){ |
andremanurung | 11:b84501ec1c12 | 109 | pc.printf("Ada kemungkinan kejadian ini tidak dapat terjadi"); |
andremanurung | 11:b84501ec1c12 | 110 | } |
andremanurung | 11:b84501ec1c12 | 111 | |
andremanurung | 7:32fab84c1877 | 112 | float teta1_rad = rad; //dalam radian |
andremanurung | 7:32fab84c1877 | 113 | teta1 = teta1_rad*180/pi; //dalam derajat |
andremanurung | 7:32fab84c1877 | 114 | //--------mulai proses teta2-------- |
andremanurung | 7:32fab84c1877 | 115 | float teta2_rad = rum_tet(teta1_rad,xt,yt,r1,r2)-teta1_rad; |
andremanurung | 7:32fab84c1877 | 116 | teta2 = teta2_rad*180/pi; |
andremanurung | 7:32fab84c1877 | 117 | //--------mulai proses phi---------- |
andremanurung | 7:32fab84c1877 | 118 | phis = phi(xt,yt)*180/pi; |
andremanurung | 7:32fab84c1877 | 119 | |
andremanurung | 7:32fab84c1877 | 120 | wait_ms(20); //perlu kah?? |
D4n1elR | 4:3db9524b9b63 | 121 | |
andremanurung | 7:32fab84c1877 | 122 | //----Eksekusi gerakan servo----- |
andremanurung | 7:32fab84c1877 | 123 | SL3_base.position(phis); // B E L U M D I K A L I B R A S I |
andremanurung | 7:32fab84c1877 | 124 | SL3_1.position(((-1)*teta1+51)*1.10); |
andremanurung | 7:32fab84c1877 | 125 | SL3_2.position((teta1-75)*1.05); |
andremanurung | 7:32fab84c1877 | 126 | SL3_3.position((teta2-51)*1.14); |
harrymunli | 1:9284c57e84da | 127 | } |
andremanurung | 7:32fab84c1877 | 128 | } |