378 lines
13 KiB
Python
378 lines
13 KiB
Python
# ==================== 五连杆机械臂轨迹控制（直接角度发送版）====================
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# 功能：轨迹生成 + 逆解 + 直接控制 + 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 = 0x02
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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 = 0.01 # 控制周期 10ms（每点延时）
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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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# ------------------------ 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, 0x12)
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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_rad, theta4_rad):
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"""
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发送 MIT 控制指令（角度单位：弧度）
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参数: theta1_rad, theta4_rad —— 目标角度（弧度）
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"""
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global current_theta1, current_theta4
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# ✅ 直接使用弧度值，不再转为角度
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pos1 = theta1_rad
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pos4 = theta4_rad
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vel = 0.1
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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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# 仅用于调试打印，才转为角度
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print(f"[DEBUG] 控制 -> θ1={np.degrees(theta1_rad):.2f}°, θ4={np.degrees(theta4_rad):.2f}°")
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current_theta1 = theta1_rad
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current_theta4 = theta4_rad
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# ------------------------ 直接轨迹执行函数（无插值）------------------------
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from time import perf_counter
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import numpy as np
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# 假设其他所需函数和全局变量已定义，例如 inverseF, forwardF, adjust_angle_continuity, control_two_motors_mit, 等等.
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def execute_direct_trajectory(x_list, y_list, dt=DT):
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"""
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直接执行轨迹：对每个 (x,y) 计算逆解并立即发送角度，不做任何插值或速度规划
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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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# 定义90度对应于弧度的偏移量
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ANGLE_OFFSET_RAD = np.pi / 2 # 即90度对应的弧度值
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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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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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# 获取当前角度（用于连续性调整）
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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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current_theta1 = np.radians(motor1.getPosition()) - ANGLE_OFFSET_RAD
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current_theta4 = np.radians(motor2.getPosition()) - ANGLE_OFFSET_RAD
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else:
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current_theta1 = current_theta4 = -ANGLE_OFFSET_RAD # 考虑到偏移
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start_time = perf_counter()
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for i, (x, y) in enumerate(zip(x_list, y_list)):
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try:
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# 计算逆解
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raw_theta1, raw_theta4 = inverseF(x, y, L1, L2, L3, L4, L0)
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# 应用角度偏移
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target_theta1 = float(raw_theta1) - ANGLE_OFFSET_RAD
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target_theta4 = float(raw_theta4) - ANGLE_OFFSET_RAD
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# 调整角度连续性
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target_theta1 = adjust_angle_continuity(target_theta1, current_theta1)
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target_theta4 = adjust_angle_continuity(target_theta4, current_theta4)
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except Exception as e:
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print(f"第 {i} 点逆解失败 ({x:.2f}, {y:.2f}): {e}")
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# 保持上一角度
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target_theta1 = current_theta1
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target_theta4 = current_theta4
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else:
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current_theta1, current_theta4 = target_theta1, target_theta4
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# === 直接发送角度到电机（假设motor api接受弧度值）===
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control_two_motors_mit(target_theta1, target_theta4)
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# === FK 验证实际到达位置 ===
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try:
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xc, yc, _, _, _, _, _, _ = forwardF(
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u1=target_theta1 + ANGLE_OFFSET_RAD,
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u4=target_theta4 + ANGLE_OFFSET_RAD,
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omega1=omega1, omega4=omega4,
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l1=l1, l2=l2, l3=l3, l4=l4, l5=l5,
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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 Exception as fk_e:
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x_fk_log.append(np.nan)
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y_fk_log.append(np.nan)
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# 记录日志
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elapsed = perf_counter() - start_time
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time_log.append(elapsed)
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theta1_log.append(np.degrees(target_theta1 + ANGLE_OFFSET_RAD)) # 将弧度转回角度以便记录
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theta4_log.append(np.degrees(target_theta4 + ANGLE_OFFSET_RAD))
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# 固定延时，控制发送频率
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busy_wait(dt)
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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（直接发送角度）...")
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time_log, theta1_log, theta4_log, x_fk_log, y_fk_log = execute_direct_trajectory(
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x_list, y_list, dt=DT # 每个点发送后延时 1ms，这个地方控制电机延时
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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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# 插值对齐长度
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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')
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f_y = interp1d(t_fk, y_fk_valid, kind='linear', fill_value='extrapolate')
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x_interp = f_x(t_target)
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y_interp = f_y(t_target)
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errors = np.sqrt((x_interp - x_list)**2 + (y_interp - y_list)**2)
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print("\n=== FK 验证误差统计 ===")
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print(f"平均误差: {np.mean(errors):.3f} mm")
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print(f"最大误差: {np.max(errors):.3f} mm")
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print(f"标准差: {np.std(errors):.3f} mm")
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except Exception as e:
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print(f"误差计算失败: {e}")
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# --- 关节角度范围 ---
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print("\n=== 关节角度范围统计 ===")
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print(f"θ₁ 范围: {min(theta1_log):.2f}° ~ {max(theta1_log):.2f}°")
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print(f"θ₄ 范围: {min(theta4_log):.2f}° ~ {max(theta4_log):.2f}°")
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# ------------------------ 主函数 ------------------------
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if __name__ == "__main__":
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try:
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init_motors()
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# 选择轨迹（可切换）
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trajectory_config = {
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'func': line_trajectory_fix,
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'params': {'start': (25, 300), 'end': (200, 300), 'num_points': 100}
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}
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# 示例：圆形轨迹
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# trajectory_config = {
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# 'func': circle_trajectory,
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# 'params': {'center': (100, 300), 'radius': 40, 'num_points': 100}
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# }
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run_trajectory_with_animation(trajectory_config['func'], **trajectory_config['params'])
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except KeyboardInterrupt:
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print("\n【用户中断】")
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except Exception as e:
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print(f"程序异常: {e}")
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finally:
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if not DEBUG_MODE:
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motor_control.disable(motor1)
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motor_control.disable(motor2)
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print("电机已停机。")
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else:
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print("【DEBUG】程序结束") |