Cov txheej txheem:
- Kauj Ruam 1: Yooj Yim Yooj Yim
- Kauj ruam 2: Qauv
- Kauj Ruam 3: Xaus Effector
- Kauj ruam 4: Excel Simulation
- Kauj Ruam 5: Arduino Diagram thiab Sistem
- Kauj ruam 6: Arduino Program Upload
- Kauj Ruam 7: Ua Simulasion
- Kauj Ruam 8: Kawg
Video: FK (Forward Kinematic) Nrog Excel, Arduino & Ua: 8 Cov Kauj Ruam
2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:24
Forward Kinematic tau siv los nrhiav qhov kawg Effector qhov tseem ceeb (x, y, z) hauv 3D qhov chaw.
Kauj Ruam 1: Yooj Yim Yooj Yim
Hauv txoj ntsiab cai, rau pem hauv ntej kinematic siv txoj kev xav ntawm trigonometry uas ua ke (sib koom ua ke). Nrog qhov ntev (r) thiab lub kaum sab xis (0) qhov tsis paub, Txoj Haujlwm Kawg Ua Haujlwm tuaj yeem paub, uas yog (x, y) rau 2D chaw thiab (x, y, z) rau 3D.
Kauj ruam 2: Qauv
Tus qauv raug kwv yees nrog teta1 (0 degree), teta1 (0 degree), teta2 (0 degree), teta3 (0 degree), teta4 (0 degree). Thiab ntev a1-a4 = 100mm (tuaj yeem hloov pauv raws li qhov xav tau). Cov ces kaum thiab qhov ntev tuaj yeem simulated hauv Excel (rub tawm cov ntawv).
Kauj Ruam 3: Xaus Effector
Los ntawm cov lej saum toj saud cov qauv yog simulated siv Excel.
Kauj ruam 4: Excel Simulation
Hauv Excel1 yog lub hauv paus kev xav ntawm kev siv. Rau cov ces kaum thiab qhov ntev tuaj yeem ua tau
hloov kho raws li xav tau. Dab tsi tom ntej yuav paub End Effector (xyz). Rau Excel yog cov kab ke uas kuv tau ua.
Kauj Ruam 5: Arduino Diagram thiab Sistem
Cov khoom siv: 1. Arduino Uno 1 pcs
2. Potentiometer 100k Ohm 5 pcs
3. Cable (xav tau)
4. PC (Arduino IDE, Excel, Ua)
5. USB Cable
6. Cardbard (xav tau) Kuv muab Arduino Uno tso rau hauv lub thawv siv PLC kom tsis txhob muaj hluav taws xob zoo li qub. Rau cov kab hluav taws xob pom cov duab. Rau Forward Arm Kinematic raft hardware system raws li cov txheej txheem uas tau ua.
Kauj ruam 6: Arduino Program Upload
Arduino program cov ntaub ntawv nyob hauv cov ntawv rub tawm.
Kauj Ruam 7: Ua Simulasion
Qhov program rub tawm cov ntawv.
Kauj Ruam 8: Kawg
Siv: 1.
2. Kev xav (ntawm kev rub tawm cov ntawv)
3.
Pom zoo:
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Forward Kinematic Nrog Excel, Arduino & Ua: 8 Kauj Ruam
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