diff --git a/.gitignore b/.gitignore index 7cfc0c2..baac2c6 100644 --- a/.gitignore +++ b/.gitignore @@ -2,4 +2,5 @@ .vscode /build /devel -/src/Model \ No newline at end of file +/src/Model +/src/ros_qt_demo/Data \ No newline at end of file diff --git a/ros_qt_demo.workspace.user b/ros_qt_demo.workspace.user index 192e24e..06b96ed 100644 --- a/ros_qt_demo.workspace.user +++ b/ros_qt_demo.workspace.user @@ -1,10 +1,14 @@ <<<<<<< HEAD + +======= +<<<<<<< HEAD ======= >>>>>>> 2645b36ef76c17b34e29ca65c5214712966781d7 +>>>>>>> origin/master EnvironmentId @@ -154,11 +158,15 @@ ROS_PYTHON_VERSION=2 ROS_ROOT=/opt/ros/melodic/share/ros ROS_VERSION=1 +<<<<<<< HEAD + SHLVL=167 +======= <<<<<<< HEAD SHLVL=496 ======= SHLVL=414 >>>>>>> 2645b36ef76c17b34e29ca65c5214712966781d7 +>>>>>>> origin/master TERM=xterm _=/usr/bin/env diff --git a/src/ros_qt_demo/CMakeLists.txt b/src/ros_qt_demo/CMakeLists.txt index 9451c4a..f02bb84 100644 --- a/src/ros_qt_demo/CMakeLists.txt +++ b/src/ros_qt_demo/CMakeLists.txt @@ -4,7 +4,7 @@ cmake_minimum_required(VERSION 2.8.0) project(ros_qt_demo) -set(CMAKE_CXX_STANDARD 14) +#set(CMAKE_CXX_STANDARD 14) #add set(CMAKE_INCLUDE_CURRENT_DIR ON) ############################################################################## diff --git a/src/ros_qt_demo/Data/Config_File/BasePE.txt b/src/ros_qt_demo/Data/Config_File/BasePE.txt index 1a446d9..8a6204d 100644 --- a/src/ros_qt_demo/Data/Config_File/BasePE.txt +++ b/src/ros_qt_demo/Data/Config_File/BasePE.txt @@ -1,4 +1,313 @@ <<<<<<< HEAD +0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 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0.133578 0.214565 -0.191835 -0.080531 +-0.101208 -0.233776 0.110958 0.178031 -0.159229 -0.066826 +-0.080482 -0.185941 0.088299 0.141544 -0.126633 -0.053135 +-0.059766 -0.138104 0.065609 0.105094 -0.094045 -0.039454 +-0.039058 -0.090265 0.042895 0.068673 -0.061464 -0.025783 +-0.018356 -0.042425 0.020165 0.032271 -0.028887 -0.012116 +-0.001548 -0.003579 0.001701 0.002722 -0.002437 -0.001022 +======= +<<<<<<< HEAD ======= 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -0.253278 -0.162917 0.539767 -0.629704 -0.219570 0.290167 @@ -27,3 +336,4 @@ -0.420259 -0.342476 1.023060 -1.048190 -0.373359 0.429223 -0.034444 -0.028127 0.083956 -0.085923 -0.030606 0.035145 >>>>>>> 2645b36ef76c17b34e29ca65c5214712966781d7 +>>>>>>> origin/master diff --git a/src/ros_qt_demo/Data/Config_File/robot.ini b/src/ros_qt_demo/Data/Config_File/robot.ini index c1eb6ee..c7bbf6e 100644 --- a/src/ros_qt_demo/Data/Config_File/robot.ini +++ b/src/ros_qt_demo/Data/Config_File/robot.ini @@ -26,7 +26,7 @@ Vec_ci_i[1] = 1,3{0.26,0,0.178} Vec_ci_i[2] = 1,3{0.05,0,0.05} Vec_ci_i[3] = 1,3{0,0.006,-0.133} Vec_ci_i[4] = 1,3{0,-0.016,-0.118} -Vec_ci_i[5] = 1,3{0,0.008, -0.103} +Vec_ci_i[5] = 1,3{0,0.008,-0.103} Vec_cb_b = 1,3{0,-0.04,-0.15} [MomentOfInertia] diff --git a/src/ros_qt_demo/Data/Config_File/robot_old.ini b/src/ros_qt_demo/Data/Config_File/robot_old.ini deleted file mode 100644 index d499ef4..0000000 --- a/src/ros_qt_demo/Data/Config_File/robot_old.ini +++ /dev/null @@ -1,48 +0,0 @@ -[DOF] -num = 6 - -[Transform] -Trans_i_j[0] = 4,4{1,0,0,0, 0,1,0,0, 0,0,1,0.1273, 0,0,0,1} -Trans_i_j[1] = 4,4{0,-1,0,0, 0,0,-1,0, 1,0,0,0, 0,0,0,1} -Trans_i_j[2] = 4,4{1,0,0,0.612, 0,1,0,0, 0,0,1,0, 0,0,0,1} -Trans_i_j[3] = 4,4{0,-1,0,0.5716, 1,0,0,0, 0,0,1,0.1639, 0,0,0,1} -Trans_i_j[4] = 4,4{1,0,0,0, 0,0,-1,-0.1157, 0,1,0,0, 0,0,0,1} -Trans_i_j[5] = 4,4{1,0,0,0, 0,0,1,0.0922, 0,-1,0,0, 0,0,0,1} -Trans_b_0_l = 4,4{0,0.707,-0.707,-0.22500000, -1,0,0,0.36500000, 0,0.707,0.707,0.13800000, 0,0,0,1} -Trans_b_0_r = 4,4{0,-0.707,0.707,0.22500000, 1,0,0,0.36500000, 0,0.707,0.707,0.13800000, 0,0,0,1} -Trans_n_e_l = 4,4{-1,0,0,0, 0,-1,0,0, 0,0,1,0.18454567, 0,0,0,1} -Trans_n_e_r = 4,4{-1,0,0,0, 0,-1,0,0, 0,0,1,0.18454567, 0,0,0,1} - -[JointLimit] -Anglemax = 1,6{360,360,360,360,360,360} -Anglemin = 1,6{-360,-360,-360,-360,-360,-360} -;关节角速度单位为°/s -Vel = 1,6{180,180,120,120,120,120} - -;漂浮基座模式下需要使用的参数 -[CentroidVector] -Vec_ci_i[0] = 1,3{0,-0.013,0.002} -Vec_ci_i[1] = 1,3{0.26,0,0.178} -Vec_ci_i[2] = 1,3{0.05,0,0.05} -Vec_ci_i[3] = 1,3{0,0.006,-0.133} -Vec_ci_i[4] = 1,3{0,-0.016,-0.118} -Vec_ci_i[5] = 1,3{0,0.008, -0.103} -Vec_cb_b = 1,3{0,-0.04,-0.15} - -[MomentOfInertia] -Moi_i_ci[0] = 3,3{0.019,0,0, 0,0.017,0, 0,0,0.016} -Moi_i_ci[1] = 3,3{0.250,0,0, 0,1.51,0, 0,0,1.27} -Moi_i_ci[2] = 3,3{0.02,0,0, 0,0.07,0, 0,0,0.06} -Moi_i_ci[3] = 3,3{0.064,0,0, 0,0.064,0, 0,0,0.004} -Moi_i_ci[4] = 3,3{0.053,0,0, 0,0.051,0, 0,0,0.006} -Moi_i_ci[5] = 3,3{0.050,0,0, 0,0.049,0, 0,0,0.005} -Moi_b_cb = 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0.000000 0.000000 0.000000 ======= 左臂总步数 917 @@ -15,3 +22,4 @@ 左臂错误编号0 左臂初始关节角-1.221785 -1.396292 1.919866 0.052265 0.209398 -2.862328 >>>>>>> 2645b36ef76c17b34e29ca65c5214712966781d7 +>>>>>>> origin/master diff --git a/src/ros_qt_demo/Data/Config_File_joint/InformationR.txt b/src/ros_qt_demo/Data/Config_File_joint/InformationR.txt index 8223d55..267fb55 100644 --- a/src/ros_qt_demo/Data/Config_File_joint/InformationR.txt +++ b/src/ros_qt_demo/Data/Config_File_joint/InformationR.txt @@ -3,10 +3,17 @@ 右臂规划模式 3 右臂速度插值模式 0 <<<<<<< HEAD +右臂总步数 292 +======= +<<<<<<< HEAD 右臂总步数 60 +>>>>>>> origin/master 右臂步长 50.000000 -右臂规划时间 3.000000 +右臂规划时间 14.562396 右臂错误编号0 +<<<<<<< HEAD +右臂初始关节角0.934454 -1.645611 -1.655821 2.705029 -0.498885 -3.653764 +======= 右臂初始关节角0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ======= 右臂总步数 917 @@ -15,3 +22,4 @@ 右臂错误编号0 右臂初始关节角1.047219 -1.466080 -1.919860 3.071741 -0.401441 -3.560484 >>>>>>> 2645b36ef76c17b34e29ca65c5214712966781d7 +>>>>>>> origin/master diff 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-0.098919 0.137396 0.036511 0.034950 + +0.026867 0.042783 -0.062921 0.087396 0.023225 0.022231 + +0.011496 0.018307 -0.026924 0.037396 0.009938 0.009513 + +0.000472 0.000752 -0.001106 0.001537 0.000408 0.000391 +======= 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ======= -0.007353 0.010294 0.013480 -0.021568 0.002819 0.025000 @@ -1955,4 +2426,5 @@ -0.000000 0.000000 0.000000 -0.000000 0.000000 0.000000 >>>>>>> 2645b36ef76c17b34e29ca65c5214712966781d7 +>>>>>>> origin/master diff --git a/src/ros_qt_demo/Data/Task/Line1.xml b/src/ros_qt_demo/Data/Task/Line1.xml index ae03b15..4c1e1ce 100644 --- a/src/ros_qt_demo/Data/Task/Line1.xml +++ b/src/ros_qt_demo/Data/Task/Line1.xml @@ -6,10 +6,10 @@ Acc_des = "0.01" Vel_max = "0.05" robotacc = "0.01" - L_Joint_ini = "5,5,5,5,5,5" - R_Joint_ini = "-5,-5,-5,-5,-5,-5" - L_PE_des = "-0.15250018, 1.33591777, 0.49500062, 0, 90,-90" - R_PE_des = "0.15250018, 1.33591777, 0.49500062, 0, -90,-90" + L_Joint_ini = "-70,-80,110,3,12,-164" + R_Joint_ini = "60, -84, -110, 176, -23, -204" + L_PE_des = "-0.15250018, 1.53591777, 0.49500062, 0, 0,-90" + R_PE_des = "0.15250018, 1.33591777, 0.49500062, 0, 0,-90" > diff --git a/src/ros_qt_demo/Data/TasklistData/List_BasePE.txt b/src/ros_qt_demo/Data/TasklistData/List_BasePE.txt index 44a551d..cd4420a 100644 --- a/src/ros_qt_demo/Data/TasklistData/List_BasePE.txt +++ b/src/ros_qt_demo/Data/TasklistData/List_BasePE.txt @@ -1,4 +1,313 @@ <<<<<<< HEAD +0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 0.000000 0.000000 -0.000000 -0.000000 +0.000000 -0.000000 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-nan nan nan nan nan @@ -1952,3 +2261,4 @@ -0.007393 0.010350 0.013554 -0.021686 0.002834 0.025136 -0.000000 0.000000 0.000000 -0.000000 0.000000 0.000000 >>>>>>> 2645b36ef76c17b34e29ca65c5214712966781d7 +>>>>>>> origin/master diff --git a/src/ros_qt_demo/include/MainWindow/MainWindow.h b/src/ros_qt_demo/include/MainWindow/MainWindow.h index 4134083..12cf01a 100644 --- a/src/ros_qt_demo/include/MainWindow/MainWindow.h +++ b/src/ros_qt_demo/include/MainWindow/MainWindow.h @@ -56,7 +56,7 @@ public: array rposition; bool isSingle = false; - bool isAdmittance = false; + bool isAdmittance = true; int firstplan_step = 0; int secondplan_step = 0; @@ -275,6 +275,12 @@ private slots: void star_pose_up(); + void Admittance(); + + void Admittance_pathplan_data(); + void Admittance_pathplan(vector> endpe_l, vector> endpe_r); + void Admittance_pathplan_end(); + public: QThreadAdmittance* threadA; diff --git a/src/ros_qt_demo/include/QThread/qthreadadmittance.h b/src/ros_qt_demo/include/QThread/qthreadadmittance.h index 830aebd..6acaa4c 100644 --- a/src/ros_qt_demo/include/QThread/qthreadadmittance.h +++ b/src/ros_qt_demo/include/QThread/qthreadadmittance.h @@ -9,6 +9,19 @@ #include #include "../../include/ros_qt_demo/qnode.hpp" +#include +#include +#include +#include +#include +#include"../pathplan/Kinematics.h" +#include "../pathplan/BasicFunction.hpp" +#include"math.h" +#include"../../Eigen/Dense" + +using namespace std; +using namespace Eigen; + class QThreadAdmittance : public QThread { Q_OBJECT @@ -17,14 +30,25 @@ public: virtual ~QThreadAdmittance(); private: + + Robot arm1; bool isAdmittance; + void cumputer_admittance(MatrixXd M, MatrixXd B, MatrixXd K, VectorXd wrench, VectorXd xe, VectorXd dxe, VectorXd* ddxe); + void control(Matrix4d* trans_I_b, VectorXd* jntNow_l, VectorXd* jntNow_r, array xD_l, array xD_r, MatrixXd M, MatrixXd B, MatrixXd K, VectorXd* dxe_l, VectorXd* dxe_r, VectorXd wrench_l, VectorXd wrench_r, double t); + + protected: void run(); //Q_DECL_OVERRIDE;//线程任务 public: + Kinematics kine; + + vector> endPEL_rad, endPER_rad; + void stopThread(); //结束线程 void QTAdmittance(); - class1_ros_qt_demo::QNode qnode; + void QTAdmittance_pathplan(); + class1_ros_qt_demo::QNode qnode; std::array lposition; std::array rposition; diff --git a/src/ros_qt_demo/src/MainWindow/MainWindow.cpp b/src/ros_qt_demo/src/MainWindow/MainWindow.cpp index 616687c..c1b92ee 100644 --- a/src/ros_qt_demo/src/MainWindow/MainWindow.cpp +++ b/src/ros_qt_demo/src/MainWindow/MainWindow.cpp @@ -273,8 +273,14 @@ void MainWindow::InitControlPanel() //************collision_detect************// >>>>>>> 2645b36ef76c17b34e29ca65c5214712966781d7 connect(ui->collision_detect, SIGNAL(clicked(bool)), this, SLOT(Colision_Detect())); + + connect(ui->Admittance_on, SIGNAL(clicked(bool)), this, SLOT(Admittance())); + + connect(ui->plan_with_admittance, SIGNAL(clicked(bool)), this, SLOT(Admittance_pathplan_data())); + connect(ui->thread_end, SIGNAL(clicked(bool)), this, SLOT(Admittance_pathplan_end())); } + //设置初始值 void MainWindow::Initvaule() { @@ -2120,7 +2126,6 @@ void MainWindow::star_pose_up() SceneManager::Instance().UpdateStar(star_pe); } - //定时器响应--驱动场景 void MainWindow::SlotTimerSimulate() { @@ -2250,7 +2255,7 @@ void MainWindow::on_ForceSensor_clicked() // QThread::msleep(5000);//阻塞延时50ms // system("gnome-terminal -- zsh -c 'source ../../setup.zsh ;rosrun robotiq_ft_sensor rq_sensor __name:=right_robotiq_ft_sensor /robotiq_ft_wrench:=/right_robotiq_ft_wrench /dev/ttyUSB3'&"); system("gnome-terminal -- zsh -c 'source ../../setup.zsh ;rosrun robotiq_ft_sensor right_rq_sensor __name:=right_robotiq_ft_sensor /robotiq_ft_wrench:=/right_robotiq_ft_wrench'&"); - QThread::msleep(5000);//阻塞延时50ms + QThread::msleep(100);//阻塞延时50ms system("gnome-terminal -- zsh -c 'source ../../setup.zsh ;rosrun robotiq_ft_sensor left_rq_sensor __name:=left_robotiq_ft_sensor /robotiq_ft_wrench:=/left_robotiq_ft_wrench'&"); } @@ -2906,6 +2911,275 @@ void MainWindow:: on_btnTask_clicked() } +void MainWindow::Admittance() +{ + Matrix4d trans_I_b; + trans_I_b.setIdentity(); + Matrix4d* trans_I_b_pt = &trans_I_b; + VectorXd jntNow_l(6), jntNow_r(6); + jntNow_l << Deg2Rad(lposition[0]), Deg2Rad(lposition[1]), Deg2Rad(lposition[2]), Deg2Rad(lposition[3]), Deg2Rad(lposition[4]), Deg2Rad(lposition[5]); + jntNow_r << Deg2Rad(rposition[0]), Deg2Rad(rposition[1]), Deg2Rad(rposition[2]), Deg2Rad(rposition[3]), Deg2Rad(rposition[4]), Deg2Rad(rposition[5]); + +// jntNow_l << outputlist.resJntLAngRad[outputlist.totalStep-1][0], outputlist.resJntLAngRad[outputlist.totalStep-1][1], +// outputlist.resJntLAngRad[outputlist.totalStep-1][2], outputlist.resJntLAngRad[outputlist.totalStep-1][3], +// outputlist.resJntLAngRad[outputlist.totalStep-1][4], outputlist.resJntLAngRad[outputlist.totalStep-1][5]; +// jntNow_r << outputlist.resJntRAngRad[outputlist.totalStep-1][0], outputlist.resJntRAngRad[outputlist.totalStep-1][1], +// outputlist.resJntRAngRad[outputlist.totalStep-1][2], outputlist.resJntRAngRad[outputlist.totalStep-1][3], +// outputlist.resJntRAngRad[outputlist.totalStep-1][4], outputlist.resJntRAngRad[outputlist.totalStep-1][5]; + VectorXd* jntNow_l_pt = &jntNow_l; + VectorXd* jntNow_r_pt = &jntNow_r; + + const char * Inipath = "../../../src/ros_qt_demo/Data/Config_File/"; //导入初始数据 +// robot.ConfigIni(Inipath); + Robot arm11(0,"robot.ini",Inipath); + Kinematics kine(arm11); + array xD_l, xD_r; + xD_l = kine.ForwardKine_l(jntNow_l, RobotTool::T2PE(trans_I_b)); + xD_r = kine.ForwardKine_r(jntNow_r, RobotTool::T2PE(trans_I_b)); + +// xD_l = { outputlist.resendLPERad[outputlist.totalStep-1][0], outputlist.resendLPERad[outputlist.totalStep-1][1], +// outputlist.resendLPERad[outputlist.totalStep-1][2], outputlist.resendLPERad[outputlist.totalStep-1][3], +// outputlist.resendLPERad[outputlist.totalStep-1][4], outputlist.resendLPERad[outputlist.totalStep-1][5]}; +// xD_r = { outputlist.resendRPERad[outputlist.totalStep-1][0], outputlist.resendRPERad[outputlist.totalStep-1][1], +// outputlist.resendRPERad[outputlist.totalStep-1][2], outputlist.resendRPERad[outputlist.totalStep-1][3], +// outputlist.resendRPERad[outputlist.totalStep-1][4], outputlist.resendRPERad[outputlist.totalStep-1][5]}; + MatrixXd M(6, 6), B(6, 6), K(6, 6); + + M << 10, 0, 0, 0, 0, 0, + 0, 10, 0, 0, 0, 0, + 0, 0, 10, 0, 0, 0, + 0, 0, 0, 2, 0, 0, + 0, 0, 0, 0, 2, 0, + 0, 0, 0, 0, 0, 2; + + B << 80, 0, 0, 0, 0, 0, + 0, 150, 0, 0, 0, 0, + 0, 0, 80, 0, 0, 0, + 0, 0, 0, 30, 0, 0, + 0, 0, 0, 0, 30, 0, + 0, 0, 0, 0, 0, 30; + + K << 10, 0, 0, 0, 0, 0, + 0, 10, 0, 0, 0, 0, + 0, 0, 10, 0, 0, 0, + 0, 0, 0, 10, 0, 0, + 0, 0, 0, 0, 10, 0, + 0, 0, 0, 0, 0, 10; + + VectorXd dxe_l(6), dxe_r(6); + + dxe_l << 0, 0, 0, 0, 0, 0; + dxe_r << 0, 0, 0, 0, 0, 0; + + VectorXd wrench_l(6), wrench_r(6); + + wrench_l << 0, 0, 0, 0, 0, 0; + wrench_r << 0, 0, 0, 0, 0, 0; + + double t = 0.05; + + double force_lower_limit_l = 0; + double force_upper_limit_l = 20; + double force_lower_limit_r = 0; + double force_upper_limit_r = 20; + + double wrench_lower_limit_l = 0; + double wrench_upper_limit_l = 10; + double wrench_lower_limit_r = 0; + double wrench_upper_limit_r = 10; + + vector ftsensor_start_l, ftsensor_start_r; + ftsensor_start_l = {ui->l_force_x->text().toDouble(), ui->l_force_y->text().toDouble(), ui->l_force_z->text().toDouble(), + ui->l_torque_x->text().toDouble(), ui->l_torque_y->text().toDouble(), ui->l_torque_z->text().toDouble()}; + ftsensor_start_r = {ui->r_force_x->text().toDouble(), ui->r_force_y->text().toDouble(), ui->r_force_z->text().toDouble(), + ui->r_torque_x->text().toDouble(), ui->r_torque_y->text().toDouble(), ui->r_torque_z->text().toDouble()}; + int xx = 0; + while(isAdmittance) + { + + cout << xx < force_upper_limit_l){wrench_l[0] = 0;} + else { + if (wrench_l[0] > 0) { wrench_l[0] = wrench_l[0] - force_lower_limit_l; } + else { wrench_l[0] = wrench_l[0] + force_lower_limit_l; } + } + if (fabs(wrench_l[1]) < force_lower_limit_l || fabs(wrench_l[1]) > force_upper_limit_l) { wrench_l[1] = 0; } + else { + if (wrench_l[1] > 0) { wrench_l[1] = wrench_l[1] - force_lower_limit_l; } + else { wrench_l[1] = wrench_l[1] + force_lower_limit_l; } + } + if (fabs(wrench_l[2]) < force_lower_limit_l || fabs(wrench_l[2]) > force_upper_limit_l) { wrench_l[2] = 0; } + else { + if (wrench_l[2] > 0) { wrench_l[2] = wrench_l[2] - force_lower_limit_l; } + else { wrench_l[2] = wrench_l[2] + force_lower_limit_l; } + } + if (fabs(wrench_l[3]) < wrench_lower_limit_l || fabs(wrench_l[3]) > wrench_upper_limit_l) { wrench_l[3] = 0; } + else { + if (wrench_l[3] > 0) { wrench_l[3] = wrench_l[3] - wrench_lower_limit_l; } + else { wrench_l[3] = wrench_l[3] + wrench_lower_limit_l; } + } + if (fabs(wrench_l[4]) < wrench_lower_limit_l || fabs(wrench_l[4]) > wrench_upper_limit_l) { wrench_l[4] = 0; } + else { + if (wrench_l[4] > 0) { wrench_l[4] = wrench_l[4] - wrench_lower_limit_l; } + else { wrench_l[4] = wrench_l[4] + wrench_lower_limit_l; } + } + if (fabs(wrench_l[5]) < wrench_lower_limit_l || fabs(wrench_l[5]) > wrench_upper_limit_l) { wrench_l[5] = 0; } + else { + if (wrench_l[5] > 0) { wrench_l[5] = wrench_l[5] - wrench_lower_limit_l; } + else { wrench_l[5] = wrench_l[5] + wrench_lower_limit_l; } + } + //??? + if (fabs(wrench_r[0]) < force_lower_limit_r || fabs(wrench_r[0]) > force_upper_limit_r) { wrench_r[0] = 0; } + else { + if (wrench_r[0] > 0) { wrench_r[0] = wrench_r[0] - force_lower_limit_r; } + else { wrench_r[0] = wrench_r[0] + force_lower_limit_r; } + } + if (fabs(wrench_r[1]) < force_lower_limit_r || fabs(wrench_r[1]) > force_upper_limit_r) { wrench_r[1] = 0; } + else { + if (wrench_r[1] > 0) { wrench_r[1] = wrench_r[1] - force_lower_limit_r; } + else { wrench_r[1] = wrench_r[1] + force_lower_limit_r; } + } + if (fabs(wrench_r[2]) < force_lower_limit_r || fabs(wrench_r[2]) > force_upper_limit_r) { wrench_r[2] = 0; } + else { + if (wrench_r[2] > 0) { wrench_r[2] = wrench_r[2] - force_lower_limit_r; } + else { wrench_r[2] = wrench_r[2] + force_lower_limit_r; } + } + if (fabs(wrench_r[3]) < wrench_lower_limit_r || fabs(wrench_r[3]) > wrench_upper_limit_r) { wrench_r[3] = 0; } + else { + if (wrench_r[3] > 0) { wrench_r[3] = wrench_r[3] - wrench_lower_limit_r; } + else { wrench_r[3] = wrench_r[3] + wrench_lower_limit_r; } + } + if (fabs(wrench_r[4]) < wrench_lower_limit_r || fabs(wrench_r[4]) > wrench_upper_limit_r) { wrench_r[4] = 0; } + else { + if (wrench_r[4] > 0) { wrench_r[4] = wrench_r[4] - wrench_lower_limit_r; } + else { wrench_r[4] = wrench_r[4] + wrench_lower_limit_r; } + } + if (fabs(wrench_r[5]) < wrench_lower_limit_r || fabs(wrench_r[5]) > wrench_upper_limit_r) { wrench_r[5] = 0; } + else { + if (wrench_r[5] > 0) { wrench_r[5] = wrench_r[5] - wrench_lower_limit_r; } + else { wrench_r[5] = wrench_r[5] + wrench_lower_limit_r; } + } + //坐标系转换+滤波修正 + for(int i = 0; i < 6; i++) + { + cout << wrench_l[i] << " "; + } + cout< joint; + + joint.push_back(jntNow_r[0]); + joint.push_back(jntNow_r[1]); + joint.push_back(jntNow_r[2]); + joint.push_back(jntNow_r[3]); + joint.push_back(jntNow_r[4]); + joint.push_back(jntNow_r[5]); + + joint.push_back(jntNow_l[0]); + joint.push_back(jntNow_l[1]); + joint.push_back(jntNow_l[2]); + joint.push_back(jntNow_l[3]); + joint.push_back(jntNow_l[4]); + joint.push_back(jntNow_l[5]); + +// for(int i = 0; i< 6; i++) +// { +// joint.push_back(jntNow_r[i]); +// } +// for(int i = 0; i< 6; i++) +// { +// joint.push_back(jntNow_l[i]); +// } + + xx++; + qnode.perform(joint); + QThread::msleep(50);//阻塞延时50ms + + } +} + //====================== 结合相机规划 ======================// //固定目标抓取 @@ -3401,3 +3675,35 @@ void MainWindow::Plan_with_Camera_setplantime(double d_gripper, double d_world, } + + + +void MainWindow::Admittance_pathplan_data() +{ + vector> endpe_l, endpe_r; + + for(int i = 0; i < outputlist.totalStep; i++) + { + endpe_l.push_back(outputlist.resendLPERad[i]); + endpe_r.push_back(outputlist.resendRPERad[i]); + } + Admittance_pathplan(endpe_l, endpe_r); +} + +void MainWindow::Admittance_pathplan(vector> endpe_l, vector> endpe_r) +{ + threadA->endPEL_rad = endpe_l; + threadA->endPER_rad = endpe_r; + + threadA->start(); + ui->plan_with_admittance->setEnabled(false); + ui->thread_end->setEnabled(true); +} + +void MainWindow::Admittance_pathplan_end() +{ + threadA->stopThread(); + threadA->wait(); + ui->plan_with_admittance->setEnabled(true); + ui->thread_end->setEnabled(false); +} diff --git a/src/ros_qt_demo/src/QThread/qthreadadmittance.cpp b/src/ros_qt_demo/src/QThread/qthreadadmittance.cpp index 85ffc69..2abb2ad 100644 --- a/src/ros_qt_demo/src/QThread/qthreadadmittance.cpp +++ b/src/ros_qt_demo/src/QThread/qthreadadmittance.cpp @@ -2,7 +2,7 @@ #include "../../include/QThread/qthreadadmittance.h" #include -#include "../../include/Admittance/Admittance.h" +//#include "../../include/Admittance/Admittance.h" #include #include #include "../../include/ros_qt_demo/qnode.hpp" @@ -25,14 +25,17 @@ QThreadAdmittance::~QThreadAdmittance() void QThreadAdmittance::run() {//线程任务 isAdmittance = true; - QTAdmittance(); - qDebug()<<"QThreadAdmittance is running "; + //QTAdmittance(); + QTAdmittance_pathplan(); + //qDebug()<<"QThreadAdmittance is running "; + cout<<"QThreadAdmittance is running "< xD_l, xD_r; - xD_l = kine.ForwardKine_l(jntNow_l, RobotTool::T2PE(trans_I_b)); - xD_r = kine.ForwardKine_r(jntNow_r, RobotTool::T2PE(trans_I_b)); + + MatrixXd M(6, 6), B(6, 6), K(6, 6); - M << 10, 0, 0, 0, 0, 0, - 0, 10, 0, 0, 0, 0, - 0, 0, 10, 0, 0, 0, +// M << 10, 0, 0, 0, 0, 0, +// 0, 10, 0, 0, 0, 0, +// 0, 0, 10, 0, 0, 0, +// 0, 0, 0, 2, 0, 0, +// 0, 0, 0, 0, 2, 0, +// 0, 0, 0, 0, 0, 2; + +// B << 80, 0, 0, 0, 0, 0, +// 0, 150, 0, 0, 0, 0, +// 0, 0, 80, 0, 0, 0, +// 0, 0, 0, 30, 0, 0, +// 0, 0, 0, 0, 30, 0, +// 0, 0, 0, 0, 0, 30; + +// K << 10, 0, 0, 0, 0, 0, +// 0, 10, 0, 0, 0, 0, +// 0, 0, 10, 0, 0, 0, +// 0, 0, 0, 10, 0, 0, +// 0, 0, 0, 0, 10, 0, +// 0, 0, 0, 0, 0, 10; + + M << 3, 0, 0, 0, 0, 0, + 0, 3, 0, 0, 0, 0, + 0, 0, 3, 0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0, 2; - B << 80, 0, 0, 0, 0, 0, - 0, 150, 0, 0, 0, 0, - 0, 0, 80, 0, 0, 0, + B << 70, 0, 0, 0, 0, 0, + 0, 70, 0, 0, 0, 0, + 0, 0, 70, 0, 0, 0, 0, 0, 0, 30, 0, 0, 0, 0, 0, 0, 30, 0, 0, 0, 0, 0, 0, 30; - K << 10, 0, 0, 0, 0, 0, - 0, 10, 0, 0, 0, 0, - 0, 0, 10, 0, 0, 0, - 0, 0, 0, 10, 0, 0, - 0, 0, 0, 0, 10, 0, - 0, 0, 0, 0, 0, 10; + K << 20, 0, 0, 0, 0, 0, + 0, 20, 0, 0, 0, 0, + 0, 0, 20, 0, 0, 0, + 0, 0, 0, 20, 0, 0, + 0, 0, 0, 0, 20, 0, + 0, 0, 0, 0, 0, 20; VectorXd dxe_l(6), dxe_r(6); @@ -147,23 +167,16 @@ void QThreadAdmittance::QTAdmittance() double t = 0.05; - double force_lower_limit_l = 4; - double force_upper_limit_l = 100; - double force_lower_limit_r = 4; - double force_upper_limit_r = 100; + double force_lower_limit_l = 1; + double force_upper_limit_l = 30; + double force_lower_limit_r = 1; + double force_upper_limit_r = 30; - double wrench_lower_limit_l = 8; + double wrench_lower_limit_l = 0.1; double wrench_upper_limit_l = 10; - double wrench_lower_limit_r = 8; + double wrench_lower_limit_r = 0.1; double wrench_upper_limit_r = 10; -// connect(&qnode,SIGNAL(left_force(float,float,float)),this,SLOT(left_slot_admittance_force(float,float,float))); -// connect(&qnode,SIGNAL(left_torque(float,float,float)),this,SLOT(left_slot_admittance_torque(float,float,float))); - -// connect(&qnode,SIGNAL(right_force(float,float,float)),this,SLOT(right_slot_admittance_force(float,float,float))); -// connect(&qnode,SIGNAL(right_torque(float,float,float)),this,SLOT(right_slot_admittance_torque(float,float,float))); - - qnode.m_lock.lockForRead(); left_slot_admittance_force(qnode.m_lforce[0], qnode.m_lforce[1], qnode.m_lforce[2]); left_slot_admittance_torque(qnode.m_ltorque[0], qnode.m_ltorque[1], qnode.m_ltorque[2]); @@ -177,32 +190,29 @@ void QThreadAdmittance::QTAdmittance() lefttorque_x, lefttorque_y, lefttorque_z}; ftsensor_start_r = {rightforce_x, rightforce_y, rightforce_z, righttorque_x, righttorque_y, righttorque_z}; + + + array xD_l, xD_r; + xD_l = kine.ForwardKine_l(jntNow_l, RobotTool::T2PE(trans_I_b)); + xD_r = kine.ForwardKine_r(jntNow_r, RobotTool::T2PE(trans_I_b)); int xx = 0; while(isAdmittance) { - qnode.m_lock.lockForRead(); - left_slot_admittance_force(qnode.m_lforce[0], qnode.m_lforce[1], qnode.m_lforce[2]); - left_slot_admittance_torque(qnode.m_ltorque[0], qnode.m_ltorque[1], qnode.m_ltorque[2]); - right_slot_admittance_force(qnode.m_rforce[0], qnode.m_rforce[1], qnode.m_rforce[2]); - right_slot_admittance_torque(qnode.m_rtorque[0], qnode.m_rtorque[1], qnode.m_rtorque[2]); - qnode.m_lock.unlock(); - -// cout<<"left: "< joint; + vector joint; - joint.push_back(jntNow_r[0]); - joint.push_back(jntNow_r[1]); - joint.push_back(jntNow_r[2]); - joint.push_back(jntNow_r[3]); - joint.push_back(jntNow_r[4]); - joint.push_back(jntNow_r[5]); - joint.push_back(jntNow_l[0]); - joint.push_back(jntNow_l[1]); - joint.push_back(jntNow_l[2]); - joint.push_back(jntNow_l[3]); - joint.push_back(jntNow_l[4]); - joint.push_back(jntNow_l[5]); + joint.push_back(jntNow_r[0]); + joint.push_back(jntNow_r[1]); + joint.push_back(jntNow_r[2]); + joint.push_back(jntNow_r[3]); + joint.push_back(jntNow_r[4]); + joint.push_back(jntNow_r[5]); - xx++; -// emit(joint); - qnode.perform(joint); - QThreadAdmittance::msleep(50);//阻塞延时50ms + joint.push_back(jntNow_l[0]); + joint.push_back(jntNow_l[1]); + joint.push_back(jntNow_l[2]); + joint.push_back(jntNow_l[3]); + joint.push_back(jntNow_l[4]); + joint.push_back(jntNow_l[5]); - } + xx++; + qnode.perform(joint); + QThread::msleep(50);//阻塞延时50ms + } } +void QThreadAdmittance::control(Matrix4d *trans_I_b, VectorXd *jntNow_l, VectorXd *jntNow_r, array xD_l, array xD_r, MatrixXd M, MatrixXd B, MatrixXd K, VectorXd *dxe_l, VectorXd *dxe_r, VectorXd wrench_l, VectorXd wrench_r, double t) +{ +// Robot arm(0, "robot.ini"); +// Kinematics kine(arm); + + MatrixXd TD_l = PE2T(xD_l); + MatrixXd TD_r = PE2T(xD_r); + Matrix3d RotateD_l = TD_l.block(0,0,3,3); + Matrix3d RotateD_r = TD_r.block(0,0,3,3); + + arraybasePE = T2PE(*trans_I_b); + arrayxNow_l = kine.ForwardKine_l(*jntNow_l, basePE); + arrayxNow_r = kine.ForwardKine_r(*jntNow_r, basePE); + + MatrixXd Tnow_l = PE2T(xNow_l); + MatrixXd Tnow_r = PE2T(xNow_r); + Matrix3d RotateNow_l =Tnow_l.block(0,0,3,3); + Matrix3d RotateNow_r =Tnow_r.block(0,0,3,3); + + Matrix3d RotateE_l = RotateNow_l * RotateD_l.inverse(); + Matrix3d RotateE_r = RotateNow_r * RotateD_r.inverse(); + + Quaterniond quatE_l(RotateE_l); + Quaterniond quatE_r(RotateE_r); + + AngleAxisd AAE_l(quatE_l); + AngleAxisd AAE_r(quatE_r); + Vector3d AE_l = AAE_l.axis() * AAE_l.angle(); + Vector3d AE_r = AAE_r.axis() * AAE_r.angle(); + + VectorXd xe_l(6), xe_r(6); + + for(auto i=0; i<3; i++) + { + double temp_l = xNow_l[i] - xD_l[i]; + double temp_r = xNow_r[i] - xD_r[i]; + xe_l(i) = temp_l; + xe_r(i) = temp_r; + } + + for(auto i=0; i<3; i++) + { + double temp_l = AE_l(i); + double temp_r = AE_r(i); + xe_l(i+3) = temp_l; + xe_r(i+3) = temp_r; + } + + VectorXd ddxe_l(6), ddxe_r(6); + VectorXd* ddxe_l_pt = &ddxe_l; + VectorXd* ddxe_r_pt = &ddxe_r; + + //Admittance cumputer_l, cumputer_r; + cumputer_admittance(M, B, K, wrench_l, xe_l, *dxe_l, ddxe_l_pt); + cumputer_admittance(M, B, K, wrench_r, xe_r, *dxe_r, ddxe_r_pt); + + VectorXd dxe_l_temp = *dxe_l; + VectorXd dxe_r_temp = *dxe_r; + + for (auto i = 0; i < 6; i++) + { + double temp2_l = xe_l(i); + + dxe_l_temp(i) = ddxe_l(i) * t + dxe_l_temp(i); + xe_l(i) = dxe_l_temp(i) * t + temp2_l; + + double temp2_r = xe_r(i); + dxe_r_temp(i) = ddxe_r(i) * t + dxe_r_temp(i); + + xe_r(i) = dxe_r_temp(i) * t + temp2_r; + } + + *dxe_l = dxe_l_temp; + *dxe_r = dxe_r_temp; + + VectorXd jntvel_l(6), jntvel_r(6), vwbase(6); + + kine.InvSolFloat(dxe_l_temp, *jntNow_l, jntvel_l, dxe_r_temp, *jntNow_r, jntvel_r, vwbase, *trans_I_b); + + VectorXd jntNow_l_temp = *jntNow_l; + VectorXd jntNow_r_temp = *jntNow_r; + + for (auto i = 0; i < 6; i++) + { + jntNow_l_temp(i) = jntNow_l_temp(i) + jntvel_l(i) * t; + jntNow_r_temp(i) = jntNow_r_temp(i) + jntvel_r(i) * t; + } + *jntNow_l = jntNow_l_temp; + *jntNow_r = jntNow_r_temp; + + Vector3d posib, eulerib; + for (int i = 0; i < 3; i++) + { + posib(i) = basePE[i]; + eulerib(i) = basePE[i + 3]; + } + Matrix3d rotateib = EulerZYX2Rotation(eulerib); + PR2T(posib, rotateib, *trans_I_b); + Vector3d dqbase, vbase, wbase; + Matrix3d rotateibtmp, drotateib; + vbase = vwbase.block(0, 0, 3, 1); + wbase = vwbase.block(3, 0, 3, 1); + dqbase = wbase * t; + drotateib = Vec2SSMtrx(dqbase); + rotateibtmp = drotateib * rotateib; + posib = posib + vbase * t; + + MatrixXd trans_I_b_temp = *trans_I_b; + for (auto i = 0; i < 3; i++) + { + trans_I_b_temp(i, 3) = posib(i); + for (auto j = 0; j < 3; j++) + { + rotateib(i, j) = rotateibtmp(i, j) + rotateib(i, j); + trans_I_b_temp(i, j) = rotateib(i, j); + } + } + *trans_I_b = trans_I_b_temp; + basePE = T2PE(*trans_I_b); + + + ////DEBUG + cout << "jntNow_l" << endl; + cout << *jntNow_l << endl; + cout << "jntNow_r" << endl; + cout << *jntNow_r << endl; + + cout << "ddxe_l "<< endl; + cout << ddxe_l << endl; + cout << "ddxe_r" << endl; + cout << ddxe_r << endl; + + cout << "wrench_l"<< endl; + cout << wrench_l<< endl; + cout << "wrench_r" << endl; + cout < ftsensor_start_l, ftsensor_start_r; + ftsensor_start_l = {leftforce_x, leftforce_y, leftforce_z, + lefttorque_x, lefttorque_y, lefttorque_z}; + ftsensor_start_r = {rightforce_x, rightforce_y, rightforce_z, + righttorque_x, righttorque_y, righttorque_z}; + + int xx = 0; + while(isAdmittance) + { + array xD_l, xD_r; + if(xx < endPEL_rad.size() -1) + { + for(int j = 0; j < 6; j++) + { + xD_l[j] = endPEL_rad[xx][j]; + xD_r[j] = endPER_rad[xx][j]; + } + } + else + { + for(int j = 0; j < 6; j++) + { + xD_l[j] = endPEL_rad[endPEL_rad.size() -1][j]; + xD_r[j] = endPER_rad[endPEL_rad.size() -1][j]; + } + } + + wrench_l[0] = qnode.m_lforce[0]; + wrench_l[1] = qnode.m_lforce[1]; + wrench_l[2] = qnode.m_lforce[2]; + wrench_l[3] = qnode.m_ltorque[0]; + wrench_l[4] = qnode.m_ltorque[1]; + wrench_l[5] = qnode.m_ltorque[2]; + + wrench_r[0] = qnode.m_rforce[0]; + wrench_r[1] = qnode.m_rforce[1]; + wrench_r[2] = qnode.m_rforce[2]; + wrench_r[3] = qnode.m_rtorque[0]; + wrench_r[4] = qnode.m_rtorque[1]; + wrench_r[5] = qnode.m_rtorque[2]; + + //对六维力修正 + for(int i = 0; i < 6; i++) + { + wrench_l[i] += -ftsensor_start_l[i]; + wrench_r[i] += -ftsensor_start_r[i]; + } + + Matrix4d transie_l = RobotTool::PE2T(kine.ForwardKine_l(jntNow_l, RobotTool::T2PE(trans_I_b))); + Matrix4d transie_r = RobotTool::PE2T(kine.ForwardKine_r(jntNow_r, RobotTool::T2PE(trans_I_b))); + + Matrix4d trans_e_w = RobotTool::PE2T({0,0,-0.25379168, PI ,0,0}); + + Matrix4d transiw_l = transie_l * trans_e_w; + Matrix4d transiw_r = transie_r * trans_e_w; + + Matrix3d roziw_l = RobotTool::GetRotation(transiw_l); + Matrix3d roziw_r = RobotTool::GetRotation(transiw_r); + + Vector3d temp = {wrench_l[0],wrench_l[1],wrench_l[2]}; + Vector3d temp1 = {0, 0, 0}; + temp1 = roziw_l * temp; + wrench_l[0] = temp1[0]; + wrench_l[1] = temp1[1]; + wrench_l[2] = temp1[2]; + + temp = {wrench_l[3], wrench_l[4], wrench_l[5]}; + temp1 = roziw_l * temp; + wrench_l[3] = temp1[0]; + wrench_l[4] = temp1[1]; + wrench_l[5] = temp1[2]; + + temp = {wrench_r[0], wrench_r[1], wrench_r[2]}; + temp1 = roziw_r * temp; + wrench_r[0] = temp1[0]; + wrench_r[1] = temp1[1]; + wrench_r[2] = temp1[2]; + + temp = {wrench_r[3], wrench_r[4], wrench_r[5]}; + temp1 = roziw_r * temp; + wrench_r[3] = temp1[0]; + wrench_r[4] = temp1[1]; + wrench_r[5] = temp1[2]; + + if (fabs(wrench_l[0]) < force_lower_limit_l || fabs(wrench_l[0]) > force_upper_limit_l){wrench_l[0] = 0;} + else { + if (wrench_l[0] > 0) { wrench_l[0] = wrench_l[0] - force_lower_limit_l; } + else { wrench_l[0] = wrench_l[0] + force_lower_limit_l; } + } + if (fabs(wrench_l[1]) < force_lower_limit_l || fabs(wrench_l[1]) > force_upper_limit_l) { wrench_l[1] = 0; } + else { + if (wrench_l[1] > 0) { wrench_l[1] = wrench_l[1] - force_lower_limit_l; } + else { wrench_l[1] = wrench_l[1] + force_lower_limit_l; } + } + if (fabs(wrench_l[2]) < force_lower_limit_l || fabs(wrench_l[2]) > force_upper_limit_l) { wrench_l[2] = 0; } + else { + if (wrench_l[2] > 0) { wrench_l[2] = wrench_l[2] - force_lower_limit_l; } + else { wrench_l[2] = wrench_l[2] + force_lower_limit_l; } + } + if (fabs(wrench_l[3]) < wrench_lower_limit_l || fabs(wrench_l[3]) > wrench_upper_limit_l) { wrench_l[3] = 0; } + else { + if (wrench_l[3] > 0) { wrench_l[3] = wrench_l[3] - wrench_lower_limit_l; } + else { wrench_l[3] = wrench_l[3] + wrench_lower_limit_l; } + } + if (fabs(wrench_l[4]) < wrench_lower_limit_l || fabs(wrench_l[4]) > wrench_upper_limit_l) { wrench_l[4] = 0; } + else { + if (wrench_l[4] > 0) { wrench_l[4] = wrench_l[4] - wrench_lower_limit_l; } + else { wrench_l[4] = wrench_l[4] + wrench_lower_limit_l; } + } + if (fabs(wrench_l[5]) < wrench_lower_limit_l || fabs(wrench_l[5]) > wrench_upper_limit_l) { wrench_l[5] = 0; } + else { + if (wrench_l[5] > 0) { wrench_l[5] = wrench_l[5] - wrench_lower_limit_l; } + else { wrench_l[5] = wrench_l[5] + wrench_lower_limit_l; } + } + //??? + if (fabs(wrench_r[0]) < force_lower_limit_r || fabs(wrench_r[0]) > force_upper_limit_r) { wrench_r[0] = 0; } + else { + if (wrench_r[0] > 0) { wrench_r[0] = wrench_r[0] - force_lower_limit_r; } + else { wrench_r[0] = wrench_r[0] + force_lower_limit_r; } + } + if (fabs(wrench_r[1]) < force_lower_limit_r || fabs(wrench_r[1]) > force_upper_limit_r) { wrench_r[1] = 0; } + else { + if (wrench_r[1] > 0) { wrench_r[1] = wrench_r[1] - force_lower_limit_r; } + else { wrench_r[1] = wrench_r[1] + force_lower_limit_r; } + } + if (fabs(wrench_r[2]) < force_lower_limit_r || fabs(wrench_r[2]) > force_upper_limit_r) { wrench_r[2] = 0; } + else { + if (wrench_r[2] > 0) { wrench_r[2] = wrench_r[2] - force_lower_limit_r; } + else { wrench_r[2] = wrench_r[2] + force_lower_limit_r; } + } + if (fabs(wrench_r[3]) < wrench_lower_limit_r || fabs(wrench_r[3]) > wrench_upper_limit_r) { wrench_r[3] = 0; } + else { + if (wrench_r[3] > 0) { wrench_r[3] = wrench_r[3] - wrench_lower_limit_r; } + else { wrench_r[3] = wrench_r[3] + wrench_lower_limit_r; } + } + if (fabs(wrench_r[4]) < wrench_lower_limit_r || fabs(wrench_r[4]) > wrench_upper_limit_r) { wrench_r[4] = 0; } + else { + if (wrench_r[4] > 0) { wrench_r[4] = wrench_r[4] - wrench_lower_limit_r; } + else { wrench_r[4] = wrench_r[4] + wrench_lower_limit_r; } + } + if (fabs(wrench_r[5]) < wrench_lower_limit_r || fabs(wrench_r[5]) > wrench_upper_limit_r) { wrench_r[5] = 0; } + else { + if (wrench_r[5] > 0) { wrench_r[5] = wrench_r[5] - wrench_lower_limit_r; } + else { wrench_r[5] = wrench_r[5] + wrench_lower_limit_r; } + } + //坐标系转换+滤波修正 + for(int i = 0; i < 6; i++) + { + cout << wrench_l[i] << " "; + } + cout< joint; + + joint.push_back(jntNow_r[0]); + joint.push_back(jntNow_r[1]); + joint.push_back(jntNow_r[2]); + joint.push_back(jntNow_r[3]); + joint.push_back(jntNow_r[4]); + joint.push_back(jntNow_r[5]); + + joint.push_back(jntNow_l[0]); + joint.push_back(jntNow_l[1]); + joint.push_back(jntNow_l[2]); + joint.push_back(jntNow_l[3]); + joint.push_back(jntNow_l[4]); + joint.push_back(jntNow_l[5]); + + xx++; + qnode.perform(joint); + QThread::msleep(50);//阻塞延时50ms + + } + +} diff --git a/src/ros_qt_demo/src/pathplan/Robot.cpp b/src/ros_qt_demo/src/pathplan/Robot.cpp index 4313e02..f135cb0 100644 --- a/src/ros_qt_demo/src/pathplan/Robot.cpp +++ b/src/ros_qt_demo/src/pathplan/Robot.cpp @@ -1,207 +1,207 @@ -#include "../../include/pathplan/Robot.h" -#include "../../include/pathplan/iniHelper.h" -#include - -Robot::Robot() -{ - mDof = 0; - mTrans_b_0_l.setIdentity(); - mTrans_b_0_r.setIdentity(); - mTrans_n_e_l.setIdentity(); - mTrans_n_e_r.setIdentity(); - mVec_cb_b.setZero(); - mMoi_b_cb.setIdentity(); - mMass_b = 0; - mMassTotal = 0; - //mTrans_camera.setIdentity(); -} - -Robot::Robot(int extension, const char* configpath, const char* configfile) -{ - //extension表示配置文件扩展名，0-ini，1-urdf - if (extension == 0) - { - IniRobot(configpath, configfile); - } - else if (extension == 1) - { - UrdfRobot(configpath, configfile); - } -} - - -Robot::~Robot() -= default; - -void Robot::IniRobot(const char * configfile, const char * configpath) -{ - iniHelper ini_reader; -// const auto check =0; - const auto check = ini_reader.bindFile(configfile, configpath);//0：检查到文件，1：没查到文件 - mMassTotal = 0; - - //未找到指定配置文件 - if (check !=0) - { - mDof = 0; - mMass_b = 0; - //qDebug()<<"Configuration file read failed！"; - cout<<"Configuration file read failed"< + +Robot::Robot() +{ + mDof = 0; + mTrans_b_0_l.setIdentity(); + mTrans_b_0_r.setIdentity(); + mTrans_n_e_l.setIdentity(); + mTrans_n_e_r.setIdentity(); + mVec_cb_b.setZero(); + mMoi_b_cb.setIdentity(); + mMass_b = 0; + mMassTotal = 0; + //mTrans_camera.setIdentity(); +} + +Robot::Robot(int extension, const char* configpath, const char* configfile) +{ + //extension表示配置文件扩展名，0-ini，1-urdf + if (extension == 0) + { + IniRobot(configpath, configfile); + } + else if (extension == 1) + { + UrdfRobot(configpath, configfile); + } +} + + +Robot::~Robot() += default; + +void Robot::IniRobot(const char * configfile, const char * configpath) +{ + iniHelper ini_reader; +// const auto check =0; + const auto check = ini_reader.bindFile(configfile, configpath);//0：检查到文件，1：没查到文件 + mMassTotal = 0; + + //未找到指定配置文件 + if (check !=0) + { + mDof = 0; + mMass_b = 0; + //qDebug()<<"Configuration file read failed！"; + cout<<"Configuration file read failed"<QTabWidget::Rounded +<<<<<<< HEAD + 7 +======= <<<<<<< HEAD 4 ======= 2 >>>>>>> 2645b36ef76c17b34e29ca65c5214712966781d7 +>>>>>>> origin/master @@ -4722,6 +4726,37 @@ + + + Page + + + + + 100 + 50 + 162 + 181 + + + + + + + plan_with_admittance + + + + + + + thread_end + + + + + +