Casper Maas / Mbed 2 deprecated Robot_Kinematics

Robot kinematics model fully working

Dependencies:   mbed

main.cpp@2:51c8b5d9cab0, 2018-10-31 (annotated)

Committer:
cmaas
Date:
Wed Oct 31 19:20:15 2018 +0000
Revision:
2:51c8b5d9cab0
Parent:
1:d45695ec7da9
Child:
3:4055a919e936
3 motoren werken met button aansturing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cmaas 0:3325a6a3a912 1 // EMG naar hoek
cmaas 0:3325a6a3a912 2
cmaas 2:51c8b5d9cab0 3 #include "stdio.h" // for printng
cmaas 0:3325a6a3a912 4 #define _USE_MATH_DEFINES
cmaas 0:3325a6a3a912 5
cmaas 0:3325a6a3a912 6 #include <math.h>
cmaas 0:3325a6a3a912 7 #define M_PI 3.14159265358979323846 /* pi */
cmaas 0:3325a6a3a912 8
cmaas 0:3325a6a3a912 9 //defining constants
cmaas 0:3325a6a3a912 10 const float la = 0.256; // lengte actieve arm
cmaas 0:3325a6a3a912 11 const float lp = 0.21; // lengte passieve arm
cmaas 0:3325a6a3a912 12 const float rp = 0.052; // straal van midden end effector tot hoekpunt
cmaas 0:3325a6a3a912 13 const float rm = 0.23; // straal van global midden tot motor
cmaas 0:3325a6a3a912 14 const float a = 0.09; // zijde van de driehoek
cmaas 0:3325a6a3a912 15 const float xas = 0.40; // afstand van motor 1 tot motor 3
cmaas 0:3325a6a3a912 16 const float yas = 0.346; // afstand van xas tot motor 2
cmaas 0:3325a6a3a912 17 const float thetap = 0; // rotatiehoek van de end effector
cmaas 0:3325a6a3a912 18
cmaas 0:3325a6a3a912 19 //motor locatie
cmaas 0:3325a6a3a912 20 const int a1x = 0; //x locatie motor 1
cmaas 0:3325a6a3a912 21 const int a1y = 0; //y locatie motor 1
cmaas 0:3325a6a3a912 22 const float a2x = (0.5)*xas; // x locatie motor 2
cmaas 0:3325a6a3a912 23 const float a2y = yas; // y locatie motor 2
cmaas 0:3325a6a3a912 24 const float a3x = xas; // x locatie motor 3
cmaas 0:3325a6a3a912 25 const int a3y = 0; // y locatie motor 3
cmaas 0:3325a6a3a912 26
cmaas 0:3325a6a3a912 27 // script voor het bepalen van de desired position aan de hand van emg (1/0)
cmaas 0:3325a6a3a912 28
cmaas 0:3325a6a3a912 29 // Dit moet dus uit EMG script
cmaas 0:3325a6a3a912 30 int EMGxplus;
cmaas 0:3325a6a3a912 31 int EMGxmin ;
cmaas 0:3325a6a3a912 32 int EMGyplus;
cmaas 0:3325a6a3a912 33 int EMGymin ;
cmaas 0:3325a6a3a912 34
cmaas 0:3325a6a3a912 35 // Dit moet experimenteel geperfectioneerd worden
cmaas 0:3325a6a3a912 36 float tijdstap = 0.05; //nu wss heel langzaam, kan miss omhoog
cmaas 0:3325a6a3a912 37 float v = 0.1; // snelheid kan wss ook hoger
cmaas 0:3325a6a3a912 38
cmaas 0:3325a6a3a912 39 float px = 0.2; //starting x
cmaas 0:3325a6a3a912 40 float py = 0.155; // starting y
cmaas 0:3325a6a3a912 41
cmaas 0:3325a6a3a912 42 // limits (since no forward kinematics)
cmaas 0:3325a6a3a912 43 float upperxlim = 0.36; //niet helemaal naar requierments ff kijken of ie groter kan
cmaas 0:3325a6a3a912 44 float lowerxlim = 0.04;
cmaas 0:3325a6a3a912 45 float upperylim = 0.30;
cmaas 0:3325a6a3a912 46 float lowerylim = 0.04;
cmaas 0:3325a6a3a912 47
cmaas 0:3325a6a3a912 48 // functie x positie
cmaas 0:3325a6a3a912 49 float positionx(int EMGxplus,int EMGxmin)
cmaas 0:3325a6a3a912 50 {
cmaas 0:3325a6a3a912 51 float EMGx = EMGxplus - EMGxmin;
cmaas 0:3325a6a3a912 52
cmaas 0:3325a6a3a912 53 float verplaatsingx = EMGx * tijdstap * v;
cmaas 0:3325a6a3a912 54 float pxnieuw = px + verplaatsingx;
cmaas 0:3325a6a3a912 55 // x limit
cmaas 0:3325a6a3a912 56 if (pxnieuw <= upperxlim && pxnieuw >= lowerxlim)
cmaas 0:3325a6a3a912 57 {
cmaas 0:3325a6a3a912 58 px = pxnieuw;
cmaas 0:3325a6a3a912 59 }
cmaas 0:3325a6a3a912 60 else
cmaas 0:3325a6a3a912 61 {
cmaas 0:3325a6a3a912 62 if (pxnieuw >= lowerxlim)
cmaas 0:3325a6a3a912 63 {
cmaas 0:3325a6a3a912 64 px = upperxlim;
cmaas 0:3325a6a3a912 65 }
cmaas 0:3325a6a3a912 66 else
cmaas 0:3325a6a3a912 67 {
cmaas 0:3325a6a3a912 68 px = lowerxlim;
cmaas 0:3325a6a3a912 69 }
cmaas 0:3325a6a3a912 70 }
cmaas 0:3325a6a3a912 71 printf("X eindpunt (%f) en verplaatsing: (%f)\n\r",px,verplaatsingx);
cmaas 0:3325a6a3a912 72 return px;
cmaas 0:3325a6a3a912 73 }
cmaas 0:3325a6a3a912 74
cmaas 0:3325a6a3a912 75 // functie y positie
cmaas 0:3325a6a3a912 76 float positiony(int EMGyplus,int EMGymin)
cmaas 0:3325a6a3a912 77 {
cmaas 0:3325a6a3a912 78 float EMGy = EMGyplus - EMGymin;
cmaas 0:3325a6a3a912 79
cmaas 0:3325a6a3a912 80 float verplaatsingy = EMGy * tijdstap * v;
cmaas 0:3325a6a3a912 81 float pynieuw = py + verplaatsingy;
cmaas 0:3325a6a3a912 82
cmaas 0:3325a6a3a912 83 // y limit
cmaas 0:3325a6a3a912 84 if (pynieuw <= upperylim && pynieuw >= lowerylim)
cmaas 0:3325a6a3a912 85 {
cmaas 0:3325a6a3a912 86 py = pynieuw;
cmaas 0:3325a6a3a912 87 }
cmaas 0:3325a6a3a912 88 else
cmaas 0:3325a6a3a912 89 {
cmaas 0:3325a6a3a912 90 if (pynieuw >= lowerylim)
cmaas 0:3325a6a3a912 91 {
cmaas 0:3325a6a3a912 92 py = upperylim;
cmaas 0:3325a6a3a912 93 }
cmaas 0:3325a6a3a912 94 else
cmaas 0:3325a6a3a912 95 {
cmaas 0:3325a6a3a912 96 py = lowerylim;
cmaas 0:3325a6a3a912 97 }
cmaas 0:3325a6a3a912 98 }
cmaas 0:3325a6a3a912 99 printf("Y eindpunt (%f) en verplaatsing: (%f) \n\r",py,verplaatsingy);
cmaas 0:3325a6a3a912 100 return (py);
cmaas 0:3325a6a3a912 101 }
cmaas 0:3325a6a3a912 102
cmaas 0:3325a6a3a912 103
cmaas 0:3325a6a3a912 104 // functie berekenen hoeken
cmaas 1:d45695ec7da9 105 // arm 1 --> reference angle motor 1
cmaas 0:3325a6a3a912 106 float hoek1(float px, float py) // input: ref x, ref y
cmaas 0:3325a6a3a912 107 {
cmaas 0:3325a6a3a912 108 float c1x = px - rp * cos(thetap +(M_PI/6)); // x locatie hoekpunt end-effector
cmaas 0:3325a6a3a912 109 float c1y = py - rp*sin(thetap+(M_PI/6)); // y locatie hoekpunt end-effector
cmaas 0:3325a6a3a912 110 float alpha1 = atan2((c1y-a1y),(c1x-a1x)); // hoek tussen horizontaal en lijn van motor naar bijbehorende end-effector punt
cmaas 0:3325a6a3a912 111 float psi1 = acos(( pow(la,2)-pow(lp,2)+pow((c1x-a1x),2)+pow((c1y-a1y),2))/(2*la*sqrt(pow ((c1x-a1x),2)+pow((c1y-a1y),2) ))); //Hoek tussen lijn van motor naar bijbehorende end=effector punt en actieve arm
cmaas 0:3325a6a3a912 112 float a1 = alpha1 + psi1; //hoek tussen horizontaal en actieve arm
cmaas 0:3325a6a3a912 113 printf("arm 1 = %f \n\r",a1);
cmaas 0:3325a6a3a912 114 return a1;
cmaas 0:3325a6a3a912 115 }
cmaas 0:3325a6a3a912 116
cmaas 1:d45695ec7da9 117 // arm 2 --> reference angle motor 2
cmaas 0:3325a6a3a912 118 float hoek2(float px, float py)
cmaas 0:3325a6a3a912 119 {
cmaas 0:3325a6a3a912 120 float c2x = px - rp * cos(thetap -(M_PI/2));
cmaas 0:3325a6a3a912 121 float c2y = py - rp*sin(thetap-(M_PI/2));
cmaas 0:3325a6a3a912 122 float alpha2 = atan2((c2y-a2y),(c2x-a2x));
cmaas 0:3325a6a3a912 123 float psi2 = acos(( pow(la,2)-pow(lp,2)+pow((c2x-a2x),2)+pow((c2y-a2y),2))/(2*la*sqrt(pow ((c2x-a2x),2)+pow((c2y-a2y),2) )));
cmaas 0:3325a6a3a912 124 float a2 = alpha2 + psi2;
cmaas 0:3325a6a3a912 125 printf("arm 2 = %f \n\r",a2);
cmaas 0:3325a6a3a912 126 return a2;
cmaas 0:3325a6a3a912 127 }
cmaas 0:3325a6a3a912 128
cmaas 1:d45695ec7da9 129 //arm 3 --> reference angle motor 3
cmaas 0:3325a6a3a912 130 float hoek3(float px, float py)
cmaas 0:3325a6a3a912 131 {
cmaas 0:3325a6a3a912 132 float c3x = px - rp * cos(thetap +(5*M_PI/6));
cmaas 0:3325a6a3a912 133 float c3y = py - rp*sin(thetap+(5*M_PI/6));
cmaas 0:3325a6a3a912 134 float alpha3 = atan2((c3y-a3y),(c3x-a3x));
cmaas 0:3325a6a3a912 135 float psi3 = acos(( pow(la,2)-pow(lp,2)+pow((c3x-a3x),2)+pow((c3y-a3y),2))/(2*la*sqrt(pow ((c3x-a3x),2)+pow((c3y-a3y),2) )));
cmaas 0:3325a6a3a912 136 float a3 = alpha3 + psi3;
cmaas 0:3325a6a3a912 137 printf("arm 3 = %f \n\r",a3);
cmaas 0:3325a6a3a912 138 return a3;
cmaas 0:3325a6a3a912 139 }
cmaas 0:3325a6a3a912 140
cmaas 0:3325a6a3a912 141
cmaas 0:3325a6a3a912 142 // MAIN
cmaas 0:3325a6a3a912 143 int main()
cmaas 0:3325a6a3a912 144 {
cmaas 0:3325a6a3a912 145
cmaas 0:3325a6a3a912 146 // berekenen positie
cmaas 0:3325a6a3a912 147 float px = positionx(1,0); // EMG: +x, -x
cmaas 0:3325a6a3a912 148 float py = positiony(1,0); // EMG: +y, -y
cmaas 0:3325a6a3a912 149 printf("positie (%f,%f)\n\r",px,py);
cmaas 0:3325a6a3a912 150
cmaas 0:3325a6a3a912 151 // berekenen hoeken
cmaas 0:3325a6a3a912 152 float a1 = hoek1(px, py);
cmaas 0:3325a6a3a912 153 float a2 = hoek2(px, py);
cmaas 0:3325a6a3a912 154 float a3 = hoek3(px, py);
cmaas 0:3325a6a3a912 155
cmaas 0:3325a6a3a912 156 printf("hoek(%f,%f,%f)\n\r",a1,a2,a3);
cmaas 0:3325a6a3a912 157
cmaas 0:3325a6a3a912 158 return 0;
cmaas 0:3325a6a3a912 159
cmaas 0:3325a6a3a912 160 }