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在 对于实验室双轴机械臂进行运动调试过程中,设计最后的控制器需要对运动对象进行力学建模分析。利用肩关节、肘关节采集到的角度数据对机械臂 进行建模分析 。
本文就是对进行建模分析中采集到的数据进行存储。
▲ 肘关节运动
采集了五组数据:
▲ 肩关节采集到到五组数据
t=[0.0000,0.0121,0.0242,0.0363,0.0484,0.0605,0.0726,0.0847,0.0968,0.1089,0.1210,0.1331,0.1452,0.1573,0.1694,0.1815,0.1936,0.2057,0.2178,0.2299,0.2420,0.2541,0.2662,0.2782,0.2903,0.3024,0.3145,0.3266,0.3387,0.3508,0.3629,0.3750,0.3871,0.3992,0.4113,0.4234,0.4355,0.4476,0.4597,0.4718,0.4839,0.4960,0.5081,0.5202,0.5323,0.5444,0.5565,0.5686,0.5807,0.5928,0.6049,0.6170,0.6291,0.6412,0.6533,0.6654,0.6775,0.6896,0.7017,0.7138,0.7259,0.7380,0.7501,0.7622,0.7743,0.7864,0.7985,0.8105,0.8226,0.8347,0.8468,0.8589,0.8710,0.8831,0.8952,0.9073,0.9194,0.9315,0.9436,0.9557,0.9678,0.9799,0.9920,1.0041,1.0162,1.0283,1.0404,1.0525,1.0646,1.0767,1.0888,1.1009,1.1130,1.1251,1.1372,1.1493,1.1614,1.1735,1.1856,1.1977,1.2098,1.2219,1.2340,1.2461,1.2582,1.2703,1.2824,1.2945,1.3066,1.3187,1.3308,1.3428,1.3549,1.3670,1.3791,1.3912,1.4033,1.4154,1.4275,1.4396,1.4517,1.4638,1.4759,1.4880,1.5001,1.5122,1.5243,1.5364,1.5485,1.5606,1.5727,1.5848,1.5969,1.6090,1.6211,1.6332,1.6453,1.6574,1.6695,1.6816,1.6937,1.7058,1.7179,1.7300,1.7421,1.7542,1.7663,1.7784,1.7905,1.8026,1.8147,1.8268,1.8389,1.8510,1.8631,1.8752,1.8872,1.8993,1.9114,1.9235,1.9356,1.9477,1.9598,1.9719,1.9840,1.9961,2.0082,2.0203,2.0324,2.0445,2.0566,2.0687,2.0808,2.0929,2.1050,2.1171,2.1292,2.1413,2.1534,2.1655,2.1776,2.1897,2.2018,2.2139,2.2260,2.2381,2.2502,2.2623,2.2744,2.2865,2.2986,2.3107,2.3228,2.3349,2.3470,2.3591,2.3712,2.3833,2.3954,2.4075,2.4195,2.4316,2.4437,2.4558,2.4679,2.4800,2.4921,2.5042,2.5163,2.5284,2.5405,2.5526,2.5647,2.5768,2.5889,2.6010,2.6131,2.6252,2.6373,2.6494,2.6615,2.6736,2.6857,2.6978,2.7099,2.7220,2.7341,2.7462,2.7583,2.7704,2.7825,2.7946,2.8067,2.8188,2.8309,2.8430,2.8551,2.8672,2.8793,2.8914,2.9035,2.9156,2.9277,2.9398,2.9518,2.9639,2.9760,2.9881,3.0002,3.0123,3.0244,3.0365,3.0486,3.0607,3.0728,3.0849,3.0970,3.1091,3.1212,3.1333,3.1454,3.1575,3.1696,3.1817,3.1938,3.2059,3.2180,3.2301,3.2422,3.2543,3.2664,3.2785,3.2906,3.3027,3.3148,3.3269,3.3390,3.3511,3.3632,3.3753,3.3874,3.3995,3.4116,3.4237,3.4358,3.4479,3.4600,3.4721,3.4842,3.4962,3.5083,3.5204,3.5325,3.5446,3.5567,3.5688,3.5809,3.5930,3.6051,3.6172,3.6293,3.6414,3.6535,3.6656,3.6777,3.6898,3.7019,3.7140,3.7261,3.7382,3.7503,3.7624,3.7745,3.7866,3.7987,3.8108,3.8229,3.8350,3.8471,3.8592,3.8713,3.8834,3.8955,3.9076,3.9197,3.9318,3.9439,3.9560,3.9681,3.9802,3.9923,4.0044,4.0165,4.0285,4.0406,4.0527,4.0648,4.0769,4.0890,4.1011,4.1132,4.1253,4.1374,4.1495,4.1616,4.1737,4.1858,4.1979,4.2100,4.2221,4.2342,4.2463,4.2584,4.2705,4.2826,4.2947,4.3068,4.3189,4.3310,4.3431,4.3552,4.3673,4.3794,4.3915,4.4036,4.4157,4.4278,4.4399,4.4520,4.4641,4.4762,4.4883,4.5004,4.5125,4.5246,4.5367,4.5488,4.5608,4.5729,4.5850,4.5971,4.6092,4.6213,4.6334,4.6455,4.6576,4.6697,4.6818,4.6939,4.7060,4.7181,4.7302,4.7423,4.7544,4.7665,4.7786,4.7907,4.8028,4.8149,4.8270]
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▲ 肘关节运动
▲ 肘关节采集到的五组数据
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#!/usr/local/bin/python # -*- coding: gbk -*- #============================================================ # TEST1.PY -- by Dr. ZhuoQing 2020-08-18 # # Note: #============================================================ from headm import * from tsmodule.tsstm32 import * stm32cmd("CLEAR") stm32cmd('step2 -1000') time.sleep(0.01) stm32cmd('showa2 400') time.sleep(6) val = stm32memo(1) angle = val[0:-1] costtime = val[-1] timedim = linspace(0, costtime/1000, len(angle), endpoint=True) tspsavenew('measure2', t=timedim, angle=angle) plt.plot(timedim, angle) plt.xlabel("Time(s)") plt.ylabel("Angle") plt.grid(True) plt.tight_layout() plt.show() #------------------------------------------------------------ # END OF FILE : TEST1.PY #============================================================
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