It was finished in the morning Seminar, back to the lab already two o'clock in the afternoon, thanks to today's report two brothers, one speaking manipulator, a high-precision pick and place to speak of anti-disturbance platform, benefit a lot. Today the task and not many were mainly controlled UR5 draw a straight line back and forth, while using Modbus control a servo motor River.
Overall, these two belong to the engineering problems, and there is not much technical content, in particular, servo motor control, servo motor to directly accordance with the manual pulse can be made, but the encoder is allowed to read a big pit of it.
Ideas are relatively clear painting line, the initial state according to the current robot arm, the robot arm end acquired attitude matrix T, extraction translation matrix, for x, y, z be required to control the linear movement UR5 end, of course, there are some pits, mainly linear track-controlled robot arm end of the sampling points programming problem, too little or too much vibration or a robot arm are very slow step, a further problem is that the transmission frequency of the signal movej robot arm, a robot arm last issue of speed and acceleration these multi-commissioning a few basic sets, you can find the optimal parameters. UR5 will be used during the operation forward and inverse kinematics, where you can refer to the blog https://blog.csdn.net/ckkboy/article/details/82959359 UR5 circle
inside the code on kinematics.
Achieve results:
the final Code Town House:
https://github.com/Musyue/CSDN_BLOG_CODE
Finally, the last:
write a blog every day has to 0:30, hoping to write a blog about 23.00 per day.