joint 3 trial:
-0.46 lowest joint position maybe?
fixed joints for the grabbing:
joint 4 -1.48 joint 5 -1,49 joint 6 0.901
Based on the robot's workspace and specifications, here are ten points in 3D space that can be used to test the robot arm's movements:
-
Maximum Reach, Mid-Height:
(128.4, 0, 150)
-
Maximum Reach, Maximum Height:
(90.76, 90.76, 200)
-
Maximum Reach, Minimum Height:
(0, 128.4, 50)
-
Minimum Reach, Mid-Height:
(-20, -20, 150)- Assuming a minimum reach of 28.28 (which is 20% of the maximum radius).
-
Directly Above Base, Maximum Height:
(0, 0, 200)
-
Directly Above Base, Minimum Height:
(0, 0, 50)
-
Halfway Maximum Reach, Maximum Height:
(-45.38, -45.38, 200)- Halfway between center and maximum radial distance.
-
Halfway Maximum Reach, Minimum Height:
(-45.38, 45.38, 50)
-
Three-Quarter Maximum Reach, Mid-Height:
(22.63, -99.52, 150)- Three quarters out towards maximum reach.
-
Edge of Reach, Lower Height:
(128.39, -1.75, 100)- Just before completing a full circle.
Adjust these values based on your actual robot's reach and height capabilities. Ensure that all dimensions and angles conform to the real mechanical limits of the robot.
新的角度计算已经完成了，更改控制的方程，pid无论如何要调试完成一次，得到一个差不多的控制方式
先从9.8重力开始，试一下前两个条件的控制，记得修改pid到一个统一的条件控制，不单独控制一个关节，使用多个控制的点来进行控制
slides making
调整了机械臂给的力度，不确定是否完善 控制的部分还有不断的小幅度震荡，pid继续调整
实际的坐标反馈还有问题，xyz的对应和实际机械臂的坐标对应不上，重新看kinematic的部分
模型不要再变化了 调整当前的小球的位置，主要是先测试是否能够夹取成功 调整effector的位置，用那个位置来表示机械臂的末端位姿 逆运动学还是有问题
forward kinematic的测试还没结束 inverse还没开始写
重新订正一边DH矩阵的参数，看一下怎么计算，不行就手搓
inverse的方程没写，gripper到joint6的距离已经计算出来了，在代码当中