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【克莱芬现场终版打标】

master
Lizongdi 2 days ago
parent
8dc2b5f607
commit
9c4da4f9ca
7 changed files with 77 additions and 87 deletions
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  1. 2
      kelaifen/Kelaifen_V6.0/Pose_7.txt
  2. 2
      kelaifen/Kelaifen_V6.0/Pose_8.txt
  3. 142
      kelaifen/Kelaifen_V6.0/config.json
  4. 2
      kelaifen/Kelaifen_V6.0/joint_positions_assembled_7.txt
  5. 2
      kelaifen/Kelaifen_V6.0/joint_positions_assembled_8.txt
  6. 8
      kelaifen/Kelaifen_V6.0/serial_handler.py
  7. 6
      kelaifen/Kelaifen_V6.0/trajectory_program.py

2
kelaifen/Kelaifen_V6.0/Pose_7.txt
View File

@ -1 +1 @@
132.209,693.315,699.278,4.182,0.075,-0.740 427.648,521.159,65.911,1.923,-0.436,-1.059

2
kelaifen/Kelaifen_V6.0/Pose_8.txt
View File

@ -1 +1 @@
663.317,241.195,699.278,4.182,0.075,2.306 427.474,521.159,65.911,1.968,0.630,-0.663

142
kelaifen/Kelaifen_V6.0/config.json
View File

@ -2,26 +2,26 @@
"PRESET_PARAMS": [ "PRESET_PARAMS": [
{ {
"params": [ "params": [
80, 100,
0, 0, 0, 0 0, 0, 0, 0
], ],
"program_delay_map": { "program_delay_map": {
"2": 0, "2": 0,
"300": 0, "300": 0,
"6": 0, "6": 0,
"700": 1.5 "700": 0
}, },
"relay_config": { "relay_config": {
"turn_on_relay_start": 6, "turn_on_relay_start": 6,
"turn_off_relay_start": 140, "turn_off_relay_start": 140,
"ex_turn_on_relay_start": 6, "ex_turn_on_relay_start": 2,
"ex_turn_off_relay_start": 140 "ex_turn_off_relay_start": 136
} }
}, },
{ {
"params": [ "params": [
80, 100,
0, 0, 0, 0 0, 50, 0, 0
], ],
"program_delay_map": { "program_delay_map": {
"2": 0, "2": 0,
@ -30,16 +30,16 @@
"700": 0 "700": 0
}, },
"relay_config": { "relay_config": {
"turn_on_relay_start": 10, "turn_on_relay_start": 6,
"turn_off_relay_start": 144, "turn_off_relay_start": 140,
"ex_turn_on_relay_start": 10, "ex_turn_on_relay_start": 2,
"ex_turn_off_relay_start": 144 "ex_turn_off_relay_start": 136
} }
}, },
{ {
"params": [ "params": [
80, 100,
0, 0, 0, 0 0, 100, 0, 0
], ],
"program_delay_map": { "program_delay_map": {
"2": 0, "2": 0,
@ -48,16 +48,16 @@
"700": 0 "700": 0
}, },
"relay_config": { "relay_config": {
"turn_on_relay_start": 10, "turn_on_relay_start": 6,
"turn_off_relay_start": 144, "turn_off_relay_start": 140,
"ex_turn_on_relay_start": 10, "ex_turn_on_relay_start": 2,
"ex_turn_off_relay_start": 144 "ex_turn_off_relay_start": 136
} }
}, },
{ {
"params": [ "params": [
80, 100,
0, 0, 0, 0 0, 150, 0, 0
], ],
"program_delay_map": { "program_delay_map": {
"2": 0, "2": 0,
@ -66,16 +66,16 @@
"700": 0 "700": 0
}, },
"relay_config": { "relay_config": {
"turn_on_relay_start": 10, "turn_on_relay_start": 6,
"turn_off_relay_start": 144, "turn_off_relay_start": 140,
"ex_turn_on_relay_start": 10, "ex_turn_on_relay_start": 2,
"ex_turn_off_relay_start": 144 "ex_turn_off_relay_start": 136
} }
}, },
{ {
"params": [ "params": [
80, 100,
0, 0, 0, 0 0, 200, 0, 0
], ],
"program_delay_map": { "program_delay_map": {
"2": 0, "2": 0,
@ -84,16 +84,16 @@
"700": 0 "700": 0
}, },
"relay_config": { "relay_config": {
"turn_on_relay_start": 10, "turn_on_relay_start": 6,
"turn_off_relay_start": 144, "turn_off_relay_start": 140,
"ex_turn_on_relay_start": 10, "ex_turn_on_relay_start": 2,
"ex_turn_off_relay_start": 144 "ex_turn_off_relay_start": 136
} }
}, },
{ {
"params": [ "params": [
80, 100,
0, 0, 0, 0 0, 250, 0, 0
], ],
"program_delay_map": { "program_delay_map": {
"2": 0, "2": 0,
@ -102,16 +102,16 @@
"700": 0 "700": 0
}, },
"relay_config": { "relay_config": {
"turn_on_relay_start": 10, "turn_on_relay_start": 6,
"turn_off_relay_start": 144, "turn_off_relay_start": 140,
"ex_turn_on_relay_start": 10, "ex_turn_on_relay_start": 2,
"ex_turn_off_relay_start": 144 "ex_turn_off_relay_start": 136
} }
}, },
{ {
"params": [ "params": [
80, 100,
0, 0, 0, 0 0, 300, 0, 0
], ],
"program_delay_map": { "program_delay_map": {
"2": 0, "2": 0,
@ -120,16 +120,16 @@
"700": 0 "700": 0
}, },
"relay_config": { "relay_config": {
"turn_on_relay_start": 10, "turn_on_relay_start": 6,
"turn_off_relay_start": 144, "turn_off_relay_start": 140,
"ex_turn_on_relay_start": 10, "ex_turn_on_relay_start": 2,
"ex_turn_off_relay_start": 144 "ex_turn_off_relay_start": 136
} }
}, },
{ {
"params": [ "params": [
80, 100,
0, 0, 0, 0 0, 350, 0, 0
], ],
"program_delay_map": { "program_delay_map": {
"2": 0, "2": 0,
@ -138,16 +138,16 @@
"700": 0 "700": 0
}, },
"relay_config": { "relay_config": {
"turn_on_relay_start": 10, "turn_on_relay_start": 6,
"turn_off_relay_start": 144, "turn_off_relay_start": 140,
"ex_turn_on_relay_start": 10, "ex_turn_on_relay_start": 2,
"ex_turn_off_relay_start": 144 "ex_turn_off_relay_start": 136
} }
}, },
{ {
"params": [ "params": [
80, 100,
0, 0, 0, 0 0, 400, 0, 0
], ],
"program_delay_map": { "program_delay_map": {
"2": 0, "2": 0,
@ -156,16 +156,16 @@
"700": 0 "700": 0
}, },
"relay_config": { "relay_config": {
"turn_on_relay_start": 10, "turn_on_relay_start": 6,
"turn_off_relay_start": 144, "turn_off_relay_start": 140,
"ex_turn_on_relay_start": 10, "ex_turn_on_relay_start": 2,
"ex_turn_off_relay_start": 144 "ex_turn_off_relay_start": 136
} }
}, },
{ {
"params": [ "params": [
80, 100,
0, 0, 0, 0 0, 450, 0, 0
], ],
"program_delay_map": { "program_delay_map": {
"2": 0, "2": 0,
@ -174,16 +174,16 @@
"700": 0 "700": 0
}, },
"relay_config": { "relay_config": {
"turn_on_relay_start": 10, "turn_on_relay_start": 6,
"turn_off_relay_start": 144, "turn_off_relay_start": 140,
"ex_turn_on_relay_start": 10, "ex_turn_on_relay_start": 2,
"ex_turn_off_relay_start": 144 "ex_turn_off_relay_start": 136
} }
}, },
{ {
"params": [ "params": [
80, 100,
0, 0, 0, 0 0, 500, 0, 0
], ],
"program_delay_map": { "program_delay_map": {
"2": 0, "2": 0,
@ -192,28 +192,28 @@
"700": 0 "700": 0
}, },
"relay_config": { "relay_config": {
"turn_on_relay_start": 10, "turn_on_relay_start": 6,
"turn_off_relay_start": 144, "turn_off_relay_start": 140,
"ex_turn_on_relay_start": 10, "ex_turn_on_relay_start": 2,
"ex_turn_off_relay_start": 144 "ex_turn_off_relay_start": 136
} }
}, },
{ {
"params": [ "params": [
80, 100,
0, 0, 0, 0 0, 0, 0, 0
], ],
"program_delay_map": { "program_delay_map": {
"2": 0, "2": 0,
"300": 0, "300": 1.5,
"6": 0, "6": 0,
"700": 0 "700": 1.5
}, },
"relay_config": { "relay_config": {
"turn_on_relay_start": 10, "turn_on_relay_start": 6,
"turn_off_relay_start": 144, "turn_off_relay_start": 140,
"ex_turn_on_relay_start": 10, "ex_turn_on_relay_start": 2,
"ex_turn_off_relay_start": 144 "ex_turn_off_relay_start": 136
} }
} }
] ]

2
kelaifen/Kelaifen_V6.0/joint_positions_assembled_7.txt
View File

@ -1 +1 @@
65.718,-110.716,120.667,-78.282,94.033,2.384 37.181,-74.220,134.029,-78.008,89.086,26.117

2
kelaifen/Kelaifen_V6.0/joint_positions_assembled_8.txt
View File

@ -1 +1 @@
6.496,-110.716,120.667,-78.282,94.033,2.384 37.181,-74.220,134.029,-78.008,89.086,-38.649

8
kelaifen/Kelaifen_V6.0/serial_handler.py
View File

@ -132,14 +132,6 @@ def handle_special_commands(PRESET_PARAMS):
speed_val = 50 speed_val = 50
if speed_val > 150: if speed_val > 150:
speed_val = 150 speed_val = 150
if angle_val > 200:
angle_val = 200
if angle_val1 > 200:
angle_val1 = 200
if angle_val2 > 200:
angle_val2 = 200
if angle_val3 > 200:
angle_val3 = 200
speed_adjustment = speed_val speed_adjustment = speed_val
Trajectory_angle = angle_val Trajectory_angle = angle_val
Trajectory_angle1 = angle_val1 Trajectory_angle1 = angle_val1

6
kelaifen/Kelaifen_V6.0/trajectory_program.py
View File

@ -1098,6 +1098,7 @@ def program100(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_
# 注意：共 133 行（144-12+1=133），但范围是 12:144 共133个点 # 注意：共 133 行（144-12+1=133），但范围是 12:144 共133个点
Off_Set_Value_1=serial_handler.Trajectory_angle + Comp_value_mm Off_Set_Value_1=serial_handler.Trajectory_angle + Comp_value_mm
Off_Set_Value_2=serial_handler.Trajectory_angle1 + Comp_value_mm Off_Set_Value_2=serial_handler.Trajectory_angle1 + Comp_value_mm
print(f"Trajectory_angle = {serial_handler.Trajectory_angle}, Trajectory_angle1 = {serial_handler.Trajectory_angle1}")
for i in range(11, 144): # i = 11 ~ 143 对应 MATLAB 第12~144行 for i in range(11, 144): # i = 11 ~ 143 对应 MATLAB 第12~144行
factor = (i - 11) / 133.0 # MATLAB中 (i-12)/133，i从12开始，对应Python i=11时因子0 factor = (i - 11) / 133.0 # MATLAB中 (i-12)/133，i从12开始，对应Python i=11时因子0
@ -1151,7 +1152,6 @@ def program100(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_
OPEN_1_M = off_set_Time+OPEN_1 OPEN_1_M = off_set_Time+OPEN_1
CLOSE_1_M1S=off_set_Time+CLOSE_1 CLOSE_1_M1S=off_set_Time+CLOSE_1
CLOSE_1_M1E = off_set_Time + CLOSE_1-155 CLOSE_1_M1E = off_set_Time + CLOSE_1-155
print(f"OPEN_1_M = {OPEN_1_M}, CLOSE_1_M1S = {CLOSE_1_M1S}, CLOSE_1_M1E = {CLOSE_1_M1E}")
#2.喷枪2开关时间计算 #2.喷枪2开关时间计算
OPEN_2=ex_turn_on_relay_start OPEN_2=ex_turn_on_relay_start
@ -1159,7 +1159,6 @@ def program100(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_
OPEN_2_M = off_set_Time+OPEN_2 OPEN_2_M = off_set_Time+OPEN_2
CLOSE_2_M2S = off_set_Time+CLOSE_2 CLOSE_2_M2S = off_set_Time+CLOSE_2
CLOSE_2_M2E = off_set_Time + CLOSE_2- 155 CLOSE_2_M2E = off_set_Time + CLOSE_2- 155
print(f"OPEN_2_M = {OPEN_1_M}, CLOSE_2_M2S = {CLOSE_2_M2S}, CLOSE_2_M2E = {CLOSE_2_M2E}")
sendCMD(sock, "transparent_transmission_init", {"lookahead": lookahead_time,"t": sample_time,"smoothness": 1,"response_enable": 0 }) sendCMD(sock, "transparent_transmission_init", {"lookahead": lookahead_time,"t": sample_time,"smoothness": 1,"response_enable": 0 })
cycles = 500 # 循环5次 cycles = 500 # 循环5次
@ -1243,6 +1242,7 @@ def program101(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_
# 注意：共 133 行（144-12+1=133），但范围是 12:144 共133个点 # 注意：共 133 行（144-12+1=133），但范围是 12:144 共133个点
Off_Set_Value_1=-(serial_handler.Trajectory_angle2 + Comp_value_mm) Off_Set_Value_1=-(serial_handler.Trajectory_angle2 + Comp_value_mm)
Off_Set_Value_2=-(serial_handler.Trajectory_angle3 + Comp_value_mm) Off_Set_Value_2=-(serial_handler.Trajectory_angle3 + Comp_value_mm)
print(f"Trajectory_angle2 = {serial_handler.Trajectory_angle2}, Trajectory_angle3 = {serial_handler.Trajectory_angle3}")
for i in range(11, 144): # i = 11 ~ 143 对应 MATLAB 第12~144行 for i in range(11, 144): # i = 11 ~ 143 对应 MATLAB 第12~144行
factor = (i - 11) / 133.0 # MATLAB中 (i-12)/133，i从12开始，对应Python i=11时因子0 factor = (i - 11) / 133.0 # MATLAB中 (i-12)/133，i从12开始，对应Python i=11时因子0
@ -1296,14 +1296,12 @@ def program101(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_
OPEN_1_M = off_set_Time+OPEN_1 OPEN_1_M = off_set_Time+OPEN_1
CLOSE_1_M1S=off_set_Time+CLOSE_1 CLOSE_1_M1S=off_set_Time+CLOSE_1
CLOSE_1_M1E = off_set_Time + CLOSE_1-155 CLOSE_1_M1E = off_set_Time + CLOSE_1-155
print(f"OPEN_1_M = {OPEN_1_M}, CLOSE_1_M1S = {CLOSE_1_M1S}, CLOSE_1_M1E = {CLOSE_1_M1E}")
#2.喷枪2开关时间计算 #2.喷枪2开关时间计算
OPEN_2=ex_turn_on_relay_start OPEN_2=ex_turn_on_relay_start
CLOSE_2 = ex_turn_off_relay_start CLOSE_2 = ex_turn_off_relay_start
OPEN_2_M = off_set_Time+OPEN_2 OPEN_2_M = off_set_Time+OPEN_2
CLOSE_2_M2S = off_set_Time+CLOSE_2 CLOSE_2_M2S = off_set_Time+CLOSE_2
CLOSE_2_M2E = off_set_Time + CLOSE_2- 155 CLOSE_2_M2E = off_set_Time + CLOSE_2- 155
print(f"OPEN_2_M = {OPEN_1_M}, CLOSE_2_M2S = {CLOSE_2_M2S}, CLOSE_2_M2E = {CLOSE_2_M2E}")
sendCMD(sock, "transparent_transmission_init", {"lookahead": lookahead_time,"t": sample_time,"smoothness": 1,"response_enable": 0 }) sendCMD(sock, "transparent_transmission_init", {"lookahead": lookahead_time,"t": sample_time,"smoothness": 1,"response_enable": 0 })
cycles = 500 # 循环5次s cycles = 500 # 循环5次s

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