說明：本次內容基于本博客四篇文章《基于C#的機器人仿真平臺和機器人運動學算法實現》、《六軸機器人軌跡規劃（直線軌跡規劃，弧線軌跡規劃）——C#實現+ABB為例（規劃直接下發離線程序運動）》、《機器人仿真搭建(以ABB為例)》和《ABB_2600運動學》進行整合和Code部分重構和改進。

一、內容改進

本次內容新添加了控制模塊，控制界面命名為虛擬示教器。

通過對應的機器人算法將虛擬環境中的機器人位置姿態真實的反應到現實機器人中

通過虛擬示教器對機器人進行關節控制和逆解線性控制

添加了對機器人的多段軌跡規劃的功能

對虛擬機器人進行多段軌跡規劃并生成實際機器人的Rapid代碼

二、關節、線性控制部分

可視化界面：

仿真環境：

通信模塊：

正向規劃模塊(通過實際的數據規劃機器人不同軌跡)：

虛擬示教器

記錄虛擬機器人點位

參數設置模塊

生成實際機器人代碼

部分代碼：

/// <summary>/// 初始化線性運動/// </summary>public void Init_T(){m_Theta[0] = 0.01;m_Theta[1] = 0;m_Theta[2] = 0;m_Theta[3] = 0;m_Theta[4] = 30;m_Theta[5] = 0;for (int i = 0; i < 6; i++){m_Theta[i] = m_Theta[i] * (Math.PI / 180);}m_Theta[1] = m_Theta[1] + Math.PI / 2;m_robotKine_form3.M_Trans_Mult(m_Theta);T06_IK = m_robotKine_form3.Rob_Fkine();T06_IK[0, 3] = T06_IK[0, 3] + addx - subx;T06_IK[1, 3] = T06_IK[1, 3] + addy - suby;T06_IK[2, 3] = T06_IK[2, 3] + addz - subz;}/// <summary>/// 將關節步進值初始化為0/// </summary>public void Init_Zero_Joint(){addj1 = 0; subj1 = 0;addj2 = 0; subj2 = 0;addj3 = 0; subj3 = 0;addj4 = 0; subj4 = 0;addj5 = 0; subj5 = 0;addj6 = 0; subj6 = 0;}/// <summary>/// 將線性步進值初始化為0/// </summary>public void Init_Zero_Liner(){addx = 0; subx = 0;addy = 0; suby = 0;addz = 0; subz = 0;addex = 0; subex = 0;addey = 0; subey = 0;addez = 0; subez = 0;}private void timer1_Tick(object sender, EventArgs e){//lable_X.Text = XYZ_test[0].ToString();//lable_Y.Text = XYZ_test[1].ToString();//lable_Z.Text = XYZ_test[2].ToString();//label_Q1.Text = Math.Round((Quate_test[0] / 2), 5).ToString();//label_Q2.Text = Math.Round((Quate_test[1] * 2), 5).ToString();//label_Q3.Text = Math.Round((Quate_test[2] * 2), 5).ToString();//label_Q4.Text = Math.Round((Quate_test[3] * 2), 5).ToString(); Init(addj1, subj1, addj2, subj2, addj3, subj3, addj4, subj4, addj5, subj5, addj6, subj6);for (int i = 0; i < 6; i++){m_Theta[i] = m_Theta[i] * (Math.PI / 180);}m_Theta[1] = m_Theta[1] + Math.PI / 2;m_robotKine_form3.M_Trans_Mult(m_Theta);T06 = m_robotKine_form3.Rob_Fkine();for (int i = 0; i < 3; i++){for (int j = 0; j < 3; j++){R[i, j] = T06[i, j];}}m_quate = m_robotKine_form3.T2Q(R);lable_X.Text = Math.Round(T06[0, 3], 3).ToString();lable_Y.Text = Math.Round(T06[1, 3], 3).ToString();lable_Z.Text = Math.Round(T06[2, 3], 3).ToString();label_Q1.Text = Math.Round((m_quate[0] / 2), 4).ToString();label_Q2.Text = Math.Round((m_quate[1] * 2), 4).ToString();label_Q3.Text = Math.Round((m_quate[2] * 2), 4).ToString();label_Q4.Text = Math.Round((m_quate[3] * 2), 4).ToString();}

三、控制實例

關節控制

逆解線性控制

多段軌跡規劃

生成Rapid代碼

Rapid代碼上傳

部分控制代碼(核心算法為軌跡規劃和機器人運動學算法)：

public double[] info1 = new double[6];private void timer3_Tick(object sender, EventArgs e){Init_T();info1 = m_robotKine_form3.Rob_Ikine(T06_IK);for (int i = 0; i < 3; i++){for (int j = 0; j < 3; j++){R_Liner[i, j] = T06_IK[i, j];}}m_quate_Liner = m_robotKine_form3.T2Q(R_Liner);lable_X.Text = Math.Round(T06_IK[0, 3], 3).ToString();lable_Y.Text = Math.Round(T06_IK[1, 3], 3).ToString();lable_Z.Text = Math.Round(T06_IK[2, 3], 3).ToString();label_Q1.Text = Math.Round((m_quate_Liner[0] / 2), 4).ToString();label_Q2.Text = Math.Round((m_quate_Liner[1] * 2), 4).ToString();label_Q3.Text = Math.Round((m_quate_Liner[2] * 2), 4).ToString();label_Q4.Text = Math.Round((m_quate_Liner[3] * 2), 4).ToString();label_J1.Text = Math.Round((info1[0]), 2).ToString();label_J2.Text = Math.Round((info1[1]), 2).ToString();label_J3.Text = Math.Round((info1[2]), 2).ToString();label_J4.Text = Math.Round((info1[3]), 2).ToString();label_J5.Text = Math.Round((info1[4]), 2).ToString();label_J6.Text = Math.Round((info1[5]), 2).ToString();}private void button2_Click(object sender, EventArgs e){Init_Zero_Joint();flag_joint = 1;flag_Liner = 0;timer1.Enabled = true;timer2.Enabled = true;timer3.Enabled = false;MessageBox.Show("控制器狀態切換為關節控制!");}private void button3_Click(object sender, EventArgs e){Init_Zero_Liner();flag_Liner = 1;flag_joint = 0;timer1.Enabled = false;timer2.Enabled = false;timer3.Enabled = true;MessageBox.Show("控制器狀態切換為線性控制!");}private void button4_Click(object sender, EventArgs e){m_form4.ShowDialog();}private void btn_Pos1_Click(object sender, EventArgs e){if (flag_joint == 1){T = T06;MessageBox.Show("記錄位置1:" + "[" + T[0, 3] + " " + T[1, 3] + " " + T[2, 3] + "]");}else{T = T06_IK;MessageBox.Show("記錄位置1:" + "[" + T[0, 3] + " " + T[1, 3] + " " + T[2, 3] + "]");}}private void btn_Pos2_Click(object sender, EventArgs e){if (flag_joint == 1){T1 = T06;MessageBox.Show("記錄位置2:" + "[" + T1[0, 3] + " " + T1[1, 3] + " " + T1[2, 3] + "]");}else{T1 = T06_IK;MessageBox.Show("記錄位置2:" + "[" + T1[0, 3] + " " + T1[1, 3] + " " + T1[2, 3] + "]");}}private void btn_Pos3_Click(object sender, EventArgs e){if (flag_joint == 1){T2 = T06;MessageBox.Show("記錄位置3:" + "[" + T2[0, 3] + " " + T2[1, 3] + " " + T2[2, 3] + "]");}else{T2 = T06_IK;MessageBox.Show("記錄位置3:" + "[" + T2[0, 3] + " " + T2[1, 3] + " " + T2[2, 3] + "]");}}//直線規劃生成的機器人關節角度public double[] info2 = new double[6];/// <summary>/// 兩點間的直線規劃/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btn_MoveL_Click(object sender, EventArgs e){timer2.Enabled = false;timer3.Enabled = false;flag_Liner_Speed = 1;flag_joint = 0;flag_Liner = 0;flag_Liner_Path = 1;flag_More_Path = 0;m_linerPath.Plan_path(T[0, 3], T[1, 3], T[2, 3], T1[0, 3], T1[1, 3], T1[2, 3], Convert.ToDouble(m_form4.Num));for (int i = 0; i < m_linerPath.x_start.Count; i++){double[,] linepos = new double[4, 4];for (int j = 0; j < 3; j++){for (int k = 0; k < 3; k++){linepos[j, k] = R[j, k];}}linepos[0, 3] = m_linerPath.x_start[i];linepos[1, 3] = m_linerPath.y_start[i];linepos[2, 3] = m_linerPath.z_start[i];m_quate_Pos = m_robotKine_form3.T2Q(R);info2 = m_robotKine_form3.Rob_Ikine(linepos);lable_X.Text = Math.Round(linepos[0, 3], 3).ToString();lable_Y.Text = Math.Round(linepos[1, 3], 3).ToString();lable_Z.Text = Math.Round(linepos[2, 3], 3).ToString();label_Q1.Text = Math.Round((m_quate_Pos[0] / 2), 4).ToString();label_Q2.Text = Math.Round((m_quate_Pos[1] * 2), 4).ToString();label_Q3.Text = Math.Round((m_quate_Pos[2] * 2), 4).ToString();label_Q4.Text = Math.Round((m_quate_Pos[3] * 2), 4).ToString();Delay(10);}}

PS:算法和仿真搭建模塊可以查找本人博客中的相關內容，本片文章不再做闡述，謝謝大家，后續會繼續推出更有趣的機器人內容！！！

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