private void button1_Click(object sender, EventArgs e) { RobotArm arm = RobotArm.lynxmotionL6(); arm.links[1] = ArmLink.rotateY(arm.links[1], Math.PI / 4); arm.links[1] = ArmLink.rotateZ(arm.links[1], -Math.PI / 4); arm.links[3] = ArmLink.rotateY(arm.links[3], -Math.PI / 4); arm.links[2] = ArmLink.rotateY(arm.links[2], Math.PI / 4); double[][] effector = arm.linkPosition(4); double x = effector[0][0]; double y = effector[1][0]; double z = effector[2][0]; String str = Convert.ToString(x) + " , " + Convert.ToString(y) + " , " + Convert.ToString(z); effectorPositionText.Text = str; Graphics g = panel1.CreateGraphics(); int panelx = panel1.Width; int panely = panel1.Height; arm.drawArm(panelx, panely, g); }
private void button5_Click(object sender, EventArgs e) { if (arm == null) { return; } int angdeg = (int)Link3RateNumeric.Value; double angle = angdeg * Math.PI / 180; arm.links[3] = ArmLink.rotateZ(arm.links[3], angle); g.Clear(Color.White); arm.drawArmcyl(xdim, ydim, g); double[][] effector = arm.linkPosition(6); Link3AngleText.Text = Convert.ToString(arm.links[3].anglez * 180 / Math.PI); double x = effector[0][0]; double y = effector[1][0]; double z = effector[2][0]; String str = Convert.ToString(x) + " , " + Convert.ToString(y) + " , " + Convert.ToString(z); effectorPositionText.Text = str; EulerParams orientation = arm.linkAngles(6); yawText.Text = Convert.ToString(orientation.Yaw * 180 / Math.PI); pitchText.Text = Convert.ToString(orientation.Pitch * 180 / Math.PI); rollText.Text = Convert.ToString(orientation.Roll * 180 / Math.PI); if (connected) { if (alligned) { String cmd; if (Servo0BaseIndexRadio.Checked) { cmd = "#2 P"; } else { cmd = " #3 P"; } int link3pos = RobotArm.link3Servo(arm.links[3].anglez); cmd += Convert.ToString(link3pos); cmd += " T1000\r"; serialPort1.Write(cmd); } } }
public ArmLink(ArmLink prevlink, double dispX, double dispY, double dispZ, double rotX, double rotY, double rotZ) { int i, j; ArmLink newlink = ArmLink.translateXYZ(prevlink, dispX, dispY, dispZ); newlink = ArmLink.rotateX(newlink, rotX); newlink = ArmLink.rotateY(newlink, rotY); newlink = ArmLink.rotateZ(newlink, rotY); // copying transfomation matrix from newlink to the object for (i = 0; i < 4; i++) { for (j = 0; j < 4; j++) { this.T[i][j] = newlink.T[i][j]; } } // transformation matrix copied }
public void addDHline(double anglei_1, double ai_1, double di, double homeangle) { linknum++; // creating a new line in the Denavit - Hartenberg matrix DHmatrix[linknum - 1] = new double[4]; // filling the line now DHmatrix[linknum - 1][0] = anglei_1; // angle about the x-axis // bewteen i-1 and i link DHmatrix[linknum - 1][1] = ai_1; // distance between i-1 and i link // on the x-axis DHmatrix[linknum - 1][2] = di; // displace of link i on the z-axis DHmatrix[linknum - 1][3] = anglei_1; // home angle of link-i // Denavit - Hartenberg line added // Now assigning a frame to the link links[linknum - 1] = ArmLink.rotateX(links[linknum - 2], anglei_1); // rotating about x by angle i-1 // to align with link i links[linknum - 1] = ArmLink.translateXYZ(links[linknum - 1], ai_1, 0, di); // translating on x by the distance bewteen // i and i-1 and translating on z by displacement di links[linknum - 1] = ArmLink.rotateZ(links[linknum - 1], homeangle); // rotating about z to home position (angle theta) }
private void timer1_Tick(object sender, EventArgs e) { clockticks++; if (clockticks <= trajectory.len) { if (trajectory.moves[clockticks - 1].Dbase != 0) { arm.links[1] = ArmLink.rotateY(arm.links[1], trajectory.moves[clockticks - 1].Dbase); } if (trajectory.moves[clockticks - 1].Dth1 != 0) { arm.links[2] = ArmLink.rotateZ(arm.links[2], trajectory.moves[clockticks - 1].Dth1); } if (trajectory.moves[clockticks - 1].Dth2 != 0) { arm.links[3] = ArmLink.rotateZ(arm.links[3], trajectory.moves[clockticks - 1].Dth2); } if (trajectory.moves[clockticks - 1].Dth3 != 0) { arm.links[4] = ArmLink.rotateZ(arm.links[4], trajectory.moves[clockticks - 1].Dth3); } g.Clear(Color.White); arm.drawArmcyl(xdim, ydim, g); double[][] effector = arm.linkPosition(6); Link1AngleText.Text = Convert.ToString(arm.links[1].angley * 180 / Math.PI); Link2AngleText.Text = Convert.ToString(arm.links[2].anglez * 180 / Math.PI); Link3AngleText.Text = Convert.ToString(arm.links[3].anglez * 180 / Math.PI); Link4AngleText.Text = Convert.ToString(arm.links[4].anglez * 180 / Math.PI); double x = effector[0][0]; double y = effector[1][0]; double z = effector[2][0]; String str = Convert.ToString(x) + " , " + Convert.ToString(y) + " , " + Convert.ToString(z); effectorPositionText.Text = str; EulerParams orientation = arm.linkAngles(6); yawText.Text = Convert.ToString(orientation.Yaw * 180 / Math.PI); pitchText.Text = Convert.ToString(orientation.Pitch * 180 / Math.PI); rollText.Text = Convert.ToString(orientation.Roll * 180 / Math.PI); if (alligned) { String cmd; // link#1 motion command if (Servo0BaseIndexRadio.Checked) { cmd = " #0 P"; } else { cmd = " #1 P"; } int basepos = RobotArm.baseServo(arm.links[1].angley); cmd += Convert.ToString(basepos); cmd += " T1000\r"; serialPort1.Write(cmd); // link #2 motion command if (Servo0BaseIndexRadio.Checked) { cmd = " #1 P"; } else { cmd = " #2 P"; } int link2pos = RobotArm.link2Servo(arm.links[2].anglez); cmd += Convert.ToString(link2pos); cmd += " T1000\r"; serialPort1.Write(cmd); // link #3 motion command if (Servo0BaseIndexRadio.Checked) { cmd = "#2 P"; } else { cmd = " #3 P"; } int link3pos = RobotArm.link3Servo(arm.links[3].anglez); cmd += Convert.ToString(link3pos); cmd += " T1000\r"; serialPort1.Write(cmd); // link #4 motion command if (Servo0BaseIndexRadio.Checked) { cmd = " #3 P"; } else { cmd = " #4 P"; } int link4pos = RobotArm.link4Servo(arm.links[4].anglez); cmd += Convert.ToString(link4pos); cmd += " T1000\r"; serialPort1.Write(cmd); } } else { moving = false; timer1.Enabled = false; } }