457 lines
16 KiB
Python
457 lines
16 KiB
Python
# ==================== 五连杆机械臂轨迹控制集成版（S型速度 + 五次插值）====================
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# 功能：轨迹生成 + 逆解 + S型速度规划 + 五次多项式平滑控制 + 动画显示 + 关节角度可视化 + FK 验证
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# =======================================================================================
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import time
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import numpy as np
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import matplotlib.pyplot as plt
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from matplotlib.animation import FuncAnimation
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from time import perf_counter # 高精度计时
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# 设置中文字体和负号显示
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plt.rcParams['font.sans-serif'] = ['SimHei', 'WenQuanYi Zen Hei', 'FangSong']
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plt.rcParams['axes.unicode_minus'] = False
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# ------------------------ 调试开关 ------------------------
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DEBUG_MODE = True # <<< 设为 False 控制真实电机
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# 导入运动学和轨迹函数（确保路径正确）
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try:
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from calculate.ik import inverseF
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from calculate.fk import forwardF
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from calculate.trajectory import (
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circle_trajectory,
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line_trajectory,
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line_trajectory_fix,
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ellipse_trajectory,
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square_trajectory,
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triangle_trajectory
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)
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except ImportError as e:
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print(f"【警告】无法导入运动学模块: {e}, 使用 DEBUG_MODE")
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DEBUG_MODE = True
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# -------------------- 非 Debug 模式导入硬件库 --------------------
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if not DEBUG_MODE:
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try:
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from DM_CAN.DM_CAN import Motor, MotorControl, DM_Motor_Type, Control_Type
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import serial
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except ImportError as e:
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print(f"硬件库导入失败: {e}")
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exit(1)
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else:
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print("【DEBUG MODE】: 已启用调试模式，不连接真实硬件。")
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# ------------------------ 机械臂参数 ------------------------
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L1 = 250 # 左臂长度 (mm)
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L2 = 300
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L3 = 300
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L4 = 250 # 右臂长度
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L0 = 250 # 基座右端偏移
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# ------------------------ 电机与通信配置 ------------------------
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MOTOR1_ID = 0x01
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MOTOR2_ID = 0x04
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CAN_SERIAL_PORT = '/dev/ttyACM0'
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BAUD_RATE = 921600
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KP = 50.0
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KD = 1.0
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DT = 0.001 # 控制周期 1ms
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# ------------------------ 全局变量 ------------------------
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motor1 = motor2 = motor_control = None
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current_theta1 = current_theta4 = 0.0
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x_list = y_list = [] # 轨迹点
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line = None
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# ------------------------ 精确延时 ------------------------
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def busy_wait(dt):
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"""高精度延时"""
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start = perf_counter()
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while perf_counter() - start < dt:
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pass
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# ------------------------ 角度连续性调整 ------------------------
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def adjust_angle_continuity(new_angle, prev_angle):
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"""
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防止角度跳变（如 3.14 → -3.14），保持连续
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"""
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diff = new_angle - prev_angle
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while diff > np.pi:
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diff -= 2 * np.pi
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while diff < -np.pi:
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diff += 2 * np.pi
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return prev_angle + diff
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# ==================== 五次多项式插值 ====================
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def quintic_interpolation(q0, qf, t, T):
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"""
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五次多项式平滑插值
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q0: 起始位置
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qf: 目标位置
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t: 当前时间（0~T）
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T: 总时间
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返回：平滑位置
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"""
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s = t / T
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s = np.clip(s, 0, 1) # 限制在0~1
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alpha = s**3 * (10 - 15*s + 6*s**2)
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return q0 + (qf - q0) * alpha
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# ==================== S型速度规划（5段式）====================
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def s_curve_timing(total_time, dt=0.001, max_accel_ratio=2.0):
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"""
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生成 S 型速度剖面的时间参数化 s(t) ∈ [0,1]
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使用 5 段：加加速 → 匀加速 → 匀速 → 匀减速 → 减减速
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"""
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t_list = np.arange(0, total_time, dt)
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if len(t_list) == 0:
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t_list = np.array([0])
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# 参数：最大加速度设为 4v/T（S型典型）
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v_max = 0.5 * max_accel_ratio * total_time # 归一化速度
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a_max = 4 * v_max / total_time # 加速度
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t_jerk = v_max / a_max # 加加速时间
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t_acc = 2 * t_jerk # 总加速时间
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t_cruise = total_time - 2 * t_acc
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if t_cruise < 0:
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t_acc = total_time / 2
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t_jerk = t_acc / 2
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t_cruise = 0
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s_list = []
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for t in t_list:
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if t <= t_jerk:
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s = (a_max / t_jerk) * t**3 / 6
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elif t <= t_acc - t_jerk:
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t2 = t - t_jerk
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s = (a_max / t_jerk) * t_jerk**3 / 6 + a_max * t_jerk * t2 + 0.5 * a_max * t2**2
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elif t <= t_acc:
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t3 = t - (t_acc - t_jerk)
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s1 = (a_max / t_jerk) * t_jerk**3 / 6
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s2 = a_max * t_jerk * (t_acc - 2*t_jerk) + 0.5 * a_max * (t_acc - 2*t_jerk)**2
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s3 = a_max * t_jerk * t3 - 0.5 * a_max * t3**2
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s = s1 + s2 + s3
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elif t <= t_acc + t_cruise:
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t4 = t - t_acc
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s = s_list[-1] if s_list else 0
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s += v_max * t4
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else:
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t5 = t - (t_acc + t_cruise)
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if t5 <= t_jerk:
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s = 1 - (v_max * (total_time - t) - 0.5 * a_max * t5**2)
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elif t5 <= t_acc - t_jerk:
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s = 1 - (v_max * (total_time - t - t_jerk) - 0.5 * a_max * t_jerk**2)
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else:
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t6 = t5 - (t_acc - t_jerk)
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s = 1 - (a_max / t_jerk) * t6**3 / 6
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s_list.append(s)
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# 归一化到 [0,1]
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s_max = max(s_list) if s_list else 1
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s_normalized = np.array(s_list) / s_max if s_max > 0 else np.zeros_like(s_list)
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return t_list, s_normalized
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# ------------------------ 初始化电机 ------------------------
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def init_motors():
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global motor1, motor2, motor_control
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if DEBUG_MODE:
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print("【DEBUG】跳过电机初始化")
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motor1 = motor2 = type('Motor', (), {'id': 0})()
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motor_control = type('MotorControl', (), {
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'enable': lambda x: True,
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'disable': lambda x: None,
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'controlMIT': lambda m, kp, kd, pos, vel, torq: None,
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'refresh_motor_status': lambda m: None,
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'switchControlMode': lambda m, mode: None,
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'save_motor_param': lambda m: None
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})()
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return motor1, motor2, motor_control
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try:
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can_serial = serial.Serial(CAN_SERIAL_PORT, BAUD_RATE, timeout=0.5)
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print(f"CAN 串口 {CAN_SERIAL_PORT} 打开成功")
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except Exception as e:
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print(f"无法打开串口: {e}")
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exit(1)
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motor_control = MotorControl(can_serial)
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motor1 = Motor(DM_Motor_Type.DM4310, MOTOR1_ID, 0x11)
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motor2 = Motor(DM_Motor_Type.DM4310, MOTOR2_ID, 0x15)
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motor_control.addMotor(motor1)
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motor_control.addMotor(motor2)
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motor_control.switchControlMode(motor1, Control_Type.MIT)
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motor_control.switchControlMode(motor2, Control_Type.MIT)
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time.sleep(0.1)
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motor_control.save_motor_param(motor1)
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motor_control.save_motor_param(motor2)
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motor_control.enable(motor1)
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motor_control.enable(motor2)
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print("电机已使能。")
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return motor1, motor2, motor_control
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# ------------------------ MIT 控制函数 ------------------------
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def control_two_motors_mit(theta1, theta4):
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"""发送 MIT 控制指令（角度单位：弧度）"""
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global current_theta1, current_theta4
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pos1 = np.degrees(theta1)
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pos4 = np.degrees(theta4)
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vel = 0.0
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torq = 0.0
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if not DEBUG_MODE:
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motor_control.controlMIT(motor1, KP, KD, pos1, vel, torq)
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motor_control.controlMIT(motor2, KP, KD, pos4, vel, torq)
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else:
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print(f"[DEBUG] 控制 -> θ1={pos1:.2f}°, θ4={pos4:.2f}°")
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current_theta1 = theta1
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current_theta4 = theta4
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# ------------------------ 平滑轨迹执行函数（带 S 型速度）------------------------
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def execute_smooth_trajectory(x_list, y_list,
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total_time=8.0,
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kp=KP, kd=KD, dt=DT,
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read_interval=0.01):
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"""
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执行平滑轨迹：使用 S 型速度剖面 + 五次多项式插值
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返回: (time_log, theta1_log, theta4_log, x_fk_log, y_fk_log)
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"""
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global motor_control, motor1, motor2
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time_log = []
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theta1_log = []
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theta4_log = []
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x_fk_log = []
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y_fk_log = []
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# FK 参数
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l1, l2, l3, l4, l5 = L1, L2, L3, L4, L0
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omega1 = omega4 = 0.0
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alpha1 = alpha4 = 0.0
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# 获取起始角度
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if not DEBUG_MODE:
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motor_control.refresh_motor_status(motor1)
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motor_control.refresh_motor_status(motor2)
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time.sleep(0.1)
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motor_control.refresh_motor_status(motor1)
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motor_control.refresh_motor_status(motor2)
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start_theta1 = np.radians(motor1.getPosition())
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start_theta4 = np.radians(motor2.getPosition())
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else:
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start_theta1 = start_theta4 = 0.0
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# 生成 S 型时间剖面
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t_profile, s_profile = s_curve_timing(total_time=total_time, dt=dt)
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if len(s_profile) == 0:
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s_profile = np.linspace(0, 1, len(x_list))
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# 插值轨迹点（使用 S 型进度）
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num_s = len(s_profile)
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x_interp = np.interp(s_profile, np.linspace(0, 1, len(x_list)), x_list)
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y_interp = np.interp(s_profile, np.linspace(0, 1, len(y_list)), y_list)
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prev_theta1 = start_theta1
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prev_theta4 = start_theta4
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start_time = perf_counter()
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for i in range(num_s):
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x = x_interp[i]
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y = y_interp[i]
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try:
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target_theta1_raw, target_theta4_raw = inverseF(x, y, L1, L2, L3, L4, L0)
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target_theta1 = float(target_theta1_raw)
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target_theta4 = float(target_theta4_raw)
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except Exception as e:
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print(f"逆解失败: ({x:.2f}, {y:.2f}) -> {e}")
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target_theta1 = prev_theta1
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target_theta4 = prev_theta4
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else:
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target_theta1 = adjust_angle_continuity(target_theta1, prev_theta1)
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target_theta4 = adjust_angle_continuity(target_theta4, prev_theta4)
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# 五次多项式插值（单点瞬时）
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T_seg = dt
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steps = 1 # 每个点只执行一次
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for step in range(steps):
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t_step = step * T_seg / steps
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theta1 = quintic_interpolation(prev_theta1, target_theta1, t_step, T_seg)
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theta4 = quintic_interpolation(prev_theta4, target_theta4, t_step, T_seg)
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control_two_motors_mit(theta1, theta4)
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# FK 验证
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try:
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xc, yc, _, _, _, _, _, _ = forwardF(
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u1=theta1, u4=theta4, omega1=omega1, omega4=omega4,
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l1=l1, l2=l2, l3=l3, l4=l4, l5=l5, alpha1=alpha1, alpha4=alpha4
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)
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x_fk_log.append(xc)
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y_fk_log.append(yc)
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except:
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x_fk_log.append(np.nan)
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y_fk_log.append(np.nan)
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# 读取反馈
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now = perf_counter()
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if not DEBUG_MODE and (now - start_time) % read_interval < dt:
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motor_control.refresh_motor_status(motor1)
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motor_control.refresh_motor_status(motor2)
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time_log.append(now - start_time)
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theta1_log.append(np.degrees(theta1))
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theta4_log.append(np.degrees(theta4))
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next_time = start_time + t_profile[i] + dt
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busy_wait(next_time - perf_counter())
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prev_theta1, prev_theta4 = target_theta1, target_theta4
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return time_log, theta1_log, theta4_log, x_fk_log, y_fk_log
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# ------------------------ 动画绘制函数 ------------------------
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def draw_frame(i):
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x = x_list[i]
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y = y_list[i]
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try:
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theta1, theta4 = inverseF(x, y, L1, L2, L3, L4, L0)
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x2 = L1 * np.cos(theta1)
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y2 = L1 * np.sin(theta1)
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x4 = L0 + L4 * np.cos(theta4)
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y4 = L4 * np.sin(theta4)
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x_coords = [0, x2, x, x4, L0]
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y_coords = [0, y2, y, y4, 0]
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line.set_data(x_coords, y_coords)
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except:
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line.set_data([], [])
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return line,
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# ------------------------ 轨迹动画与执行 + 可视化 + FK 验证 ------------------------
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def run_trajectory_with_animation(trajectory_func, **params):
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global x_list, y_list, line
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print(f"生成轨迹: {trajectory_func.__name__}")
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x_list, y_list = trajectory_func(**params)
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print(f"轨迹点数: {len(x_list)}")
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# --- 动画 ---
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fig, ax = plt.subplots(figsize=(10, 8))
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ax.set_xlim(-50, L0 + 100)
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ax.set_ylim(0, 500)
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ax.set_aspect('equal')
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ax.grid(True, alpha=0.6)
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ax.set_title(f"五连杆机械臂 - 轨迹: {trajectory_func.__name__}")
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ax.plot(x_list, y_list, 'b--', alpha=0.5, label='目标轨迹')
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line, = ax.plot([], [], 'r-o', lw=3, ms=6, label='机械臂')
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ax.legend()
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ani = FuncAnimation(fig, draw_frame, frames=len(x_list),
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interval=50, blit=True, repeat=False)
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plt.show()
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# --- 执行并记录 ---
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print("开始执行轨迹（S型速度 + 五次插值）...")
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time_log, theta1_log, theta4_log, x_fk_log, y_fk_log = execute_smooth_trajectory(
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x_list, y_list,
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total_time=8.0,
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kp=50.0, kd=1.0, dt=0.001
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)
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# --- 绘制关节角度 ---
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fig2, (ax1, ax2) = plt.subplots(2, 1, figsize=(10, 6), sharex=True)
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ax1.plot(time_log, theta1_log, 'b-o', markersize=3, linewidth=1.5, label='θ₁ (电机1)')
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ax1.set_ylabel('关节角 θ₁ (°)')
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ax1.set_title('电机关节角度随时间变化')
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ax1.grid(True, alpha=0.5)
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ax1.legend()
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ax2.plot(time_log, theta4_log, 'r-o', markersize=3, linewidth=1.5, label='θ₄ (电机2)')
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ax2.set_xlabel('时间 (秒)')
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ax2.set_ylabel('关节角 θ₄ (°)')
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ax2.grid(True, alpha=0.5)
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ax2.legend()
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plt.tight_layout()
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plt.show()
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# --- FK 验证 ---
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fig3, ax3 = plt.subplots(figsize=(10, 8))
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ax3.plot(x_list, y_list, 'b--', linewidth=2, label='目标轨迹', alpha=0.8)
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ax3.plot(x_fk_log, y_fk_log, 'g-', linewidth=2, marker='o', markersize=3, label='FK 重建轨迹', alpha=0.7)
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ax3.scatter(x_fk_log[0], y_fk_log[0], c='green', s=100, marker='s', label='起点')
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ax3.scatter(x_fk_log[-1], y_fk_log[-1], c='red', s=100, marker='x', label='终点')
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ax3.set_xlabel('X (mm)')
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ax3.set_ylabel('Y (mm)')
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ax3.set_title('FK 验证：目标 vs 实际轨迹')
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ax3.grid(True, alpha=0.5)
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ax3.legend()
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ax3.set_aspect('equal')
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plt.tight_layout()
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plt.show()
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# --- 误差统计 ---
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mask = ~np.isnan(x_fk_log) & ~np.isnan(y_fk_log)
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x_fk_valid = np.array(x_fk_log)[mask]
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y_fk_valid = np.array(y_fk_log)[mask]
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if len(x_fk_valid) == 0:
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print("【警告】FK 数据全为 nan，无法计算误差")
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return
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t_target = np.linspace(0, 1, len(x_list))
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t_fk = np.linspace(0, 1, len(x_fk_valid))
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from scipy.interpolate import interp1d
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try:
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f_x = interp1d(t_fk, x_fk_valid, kind='linear', fill_value='extrapolate')
|
||
f_y = interp1d(t_fk, y_fk_valid, kind='linear', fill_value='extrapolate')
|
||
x_interp = f_x(t_target)
|
||
y_interp = f_y(t_target)
|
||
errors = np.sqrt((x_interp - x_list)**2 + (y_interp - y_list)**2)
|
||
print("\n=== FK 验证误差统计 ===")
|
||
print(f"平均误差: {np.mean(errors):.3f} mm")
|
||
print(f"最大误差: {np.max(errors):.3f} mm")
|
||
print(f"标准差: {np.std(errors):.3f} mm")
|
||
except Exception as e:
|
||
print(f"误差计算失败: {e}")
|
||
|
||
# --- 角度范围 ---
|
||
print("\n=== 关节角度范围统计 ===")
|
||
print(f"θ₁ 范围: {min(theta1_log):.2f}° ~ {max(theta1_log):.2f}°")
|
||
print(f"θ₄ 范围: {min(theta4_log):.2f}° ~ {max(theta4_log):.2f}°")
|
||
|
||
# ------------------------ 主函数 ------------------------
|
||
if __name__ == "__main__":
|
||
try:
|
||
init_motors()
|
||
|
||
# 选择轨迹
|
||
trajectory_config = {
|
||
'func': line_trajectory_fix,
|
||
'params': {'start': (25, 300), 'end': (200, 300), 'num_points': 100}
|
||
}
|
||
|
||
# 示例：圆形轨迹
|
||
# trajectory_config = {
|
||
# 'func': circle_trajectory,
|
||
# 'params': {'center': (100, 300), 'radius': 40, 'num_points': 100}
|
||
# }
|
||
|
||
run_trajectory_with_animation(trajectory_config['func'], **trajectory_config['params'])
|
||
|
||
except KeyboardInterrupt:
|
||
print("\n【用户中断】")
|
||
except Exception as e:
|
||
print(f"程序异常: {e}")
|
||
finally:
|
||
if not DEBUG_MODE:
|
||
motor_control.disable(motor1)
|
||
motor_control.disable(motor2)
|
||
print("电机已停机。")
|
||
else:
|
||
print("【DEBUG】程序结束") |