diff --git a/Massage/MassageControl/MassageRobot_nova5.py b/Massage/MassageControl/MassageRobot_nova5.py index 335a8db..994e136 100644 --- a/Massage/MassageControl/MassageRobot_nova5.py +++ b/Massage/MassageControl/MassageRobot_nova5.py @@ -274,12 +274,18 @@ class MassageRobot: self.logger.log_blue(f"orientation current: {R.from_quat(quat_rot).as_euler('xyz',degrees=False)}") self.command_rate.precise_sleep() - poistion ,quat_rot = self.arm.get_arm_position() - self.arm_state.desired_position = poistion - self.arm_state.arm_position_command = poistion - self.arm_state.desired_orientation = quat_rot + position ,quat_rot = self.arm.get_arm_position() + # self.arm_state.desired_position = poistion + self.arm_state.arm_position_command = position + # self.arm_state.desired_orientation = quat_rot self.arm_state.arm_orientation_command = quat_rot + ## POSITION CONTROLLER TEST ## + delta_pos = np.array([0.1,0.1,-0.1],dtype=np.float64) + # delta_quat = R.from_euler('xyz', [0, 0, 0], degrees=True).as_quat() + self.arm_state.desired_position = position + delta_pos + self.arm_state.desired_orientation = quat_rot + # 线程启动 self.arm_control_thread.start() ## 赋初始值后控制线程 self.logger.log_info("MassageRobot启动") @@ -371,9 +377,12 @@ if __name__ == "__main__": robot.init_hardwares(ready_pose) time.sleep(3) - robot.controller_manager.switch_controller('admittance') - atexit.register(robot.force_sensor.disconnect) + # robot.controller_manager.switch_controller('admittance') + robot.controller_manager.switch_controller('position') + + + atexit.register(robot.force_sensor.disconnect) robot.arm_state.desired_wrench = np.array([0,0,-0.5,0,0,0]) try: robot_thread = threading.Thread(target=robot.start) diff --git a/Massage/MassageControl/algorithms/__pycache__/admittance_controller.cpython-39.pyc b/Massage/MassageControl/algorithms/__pycache__/admittance_controller.cpython-39.pyc index 0a77fb6..5185c1c 100644 Binary files a/Massage/MassageControl/algorithms/__pycache__/admittance_controller.cpython-39.pyc and b/Massage/MassageControl/algorithms/__pycache__/admittance_controller.cpython-39.pyc differ diff --git a/Massage/MassageControl/algorithms/__pycache__/position_controller.cpython-39.pyc b/Massage/MassageControl/algorithms/__pycache__/position_controller.cpython-39.pyc index fcde2b9..ecefec1 100644 Binary files a/Massage/MassageControl/algorithms/__pycache__/position_controller.cpython-39.pyc and b/Massage/MassageControl/algorithms/__pycache__/position_controller.cpython-39.pyc differ diff --git a/Massage/MassageControl/config/position.yaml b/Massage/MassageControl/config/position.yaml index eaa52da..88ac5b7 100755 --- a/Massage/MassageControl/config/position.yaml +++ b/Massage/MassageControl/config/position.yaml @@ -1,8 +1,8 @@ name: position -Kp: [70,70,70,7,7,7] -Ki: [0, 0, 0, 0, 0, 0] -Kd: [5, 5, 5, 1, 1, 1] +Kp: [20,20,20,1,1,1] +Ki: [0.2,0.2,0.2, 0, 0, 0] +Kd: [10,10,10, 1, 1, 1] # Kp: [60,60,60,6,6,6] # Ki: [10, 10, 10, 1, 1, 1] diff --git a/Massage/MassageControl/hardware/__pycache__/dobot_nova5.cpython-39.pyc b/Massage/MassageControl/hardware/__pycache__/dobot_nova5.cpython-39.pyc index 047fd18..cf3df8c 100644 Binary files a/Massage/MassageControl/hardware/__pycache__/dobot_nova5.cpython-39.pyc and b/Massage/MassageControl/hardware/__pycache__/dobot_nova5.cpython-39.pyc differ diff --git a/Massage/MassageControl/hardware/dobot_nova5.py b/Massage/MassageControl/hardware/dobot_nova5.py index 721c927..c9cd746 100644 --- a/Massage/MassageControl/hardware/dobot_nova5.py +++ b/Massage/MassageControl/hardware/dobot_nova5.py @@ -732,6 +732,11 @@ class dobot_nova5: def get_arm_position(self): + ''' + 输出pos,quat + pos: [x,y,z] in m + quat: [qx,qy,qz,qw] 四元数 + ''' pose = self.Get_feedInfo_pose() # print("pose",pose) x,y,z,rx,ry,rz = pose # x y z in mm; rx ry rz in degree @@ -814,8 +819,7 @@ if __name__ == "__main__": dobot.chooseEndEffector(i=9) print("Arm pose:",dobot.getPose()) - # dobot.RunPoint_P_inPose([, 0, 154.071, 0, 0, 0]) + # dobot.RunPoint_P_inPose([300, -135, 224.34, -180, 0, -90]) - # dobot.start_drag() dobot.disableRobot() \ No newline at end of file diff --git a/logs/MassageRobot_nova5_test.log b/logs/MassageRobot_nova5_test.log index 4f39b77..d002cf0 100644 --- a/logs/MassageRobot_nova5_test.log +++ b/logs/MassageRobot_nova5_test.log @@ -82,3 +82,3373 @@ 2025-05-26 15:02:11,262 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 9.58738920e-07 -1.57079633e+00] 2025-05-26 15:02:11,277 - 测试日志 - INFO - log.py:106 - MassageRobot启动 2025-05-26 15:02:11,277 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动 +2025-05-26 17:51:48,254 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头 +2025-05-26 17:51:51,767 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动 +2025-05-26 17:51:51,769 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999971 -0.13499791 0.34433902] +2025-05-26 17:51:51,773 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 5.21850598e-04 -9.00000534e+01] +2025-05-26 17:51:51,775 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999973 -0.13499768 0.34433932] +2025-05-26 17:51:51,777 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 9.58737992e-06 -1.57079633e+00] +2025-05-26 17:51:51,778 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999972 -0.13499769 0.34433932] +2025-05-26 17:51:51,780 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999970e+02 5.49252849e-04 -9.00000001e+01] +2025-05-26 17:51:51,780 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999971 -0.13499791 0.34433887] +2025-05-26 17:51:51,781 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 8.62864234e-06 -1.57079633e+00] +2025-05-26 17:51:51,797 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999987 -0.13499791 0.34433928] +2025-05-26 17:51:51,798 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.80000000e+02 5.21788196e-04 -9.00000307e+01] +2025-05-26 17:51:51,799 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999988 -0.13499791 0.34433929] +2025-05-26 17:51:51,800 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 9.10801113e-06 -1.57079686e+00] +2025-05-26 17:51:51,815 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999993 -0.13499803 0.34433946] +2025-05-26 17:51:51,816 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 4.94387079e-04 -9.00000307e+01] +2025-05-26 17:51:51,816 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13499803 0.34433948] +2025-05-26 17:51:51,818 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 8.62864234e-06 -1.57079686e+00] +2025-05-26 17:51:51,834 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999981 -0.13499815 0.34433894] +2025-05-26 17:51:51,835 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999939e+02 4.67048343e-04 -9.00000003e+01] +2025-05-26 17:51:51,836 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999963 -0.13499803 0.3443389 ] +2025-05-26 17:51:51,837 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 9.10801113e-06 -1.57079686e+00] +2025-05-26 17:51:51,852 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999976 -0.13499791 0.34433906] +2025-05-26 17:51:51,854 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 5.21977609e-04 -9.00000537e+01] +2025-05-26 17:51:51,856 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999948 -0.13499803 0.34433893] +2025-05-26 17:51:51,857 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 8.62864234e-06 -1.57079686e+00] +2025-05-26 17:51:51,871 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999991 -0.13499803 0.344339 ] +2025-05-26 17:51:51,872 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999970e+02 4.94572990e-04 -9.00000537e+01] +2025-05-26 17:51:51,874 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.13499803 0.34433902] +2025-05-26 17:51:51,875 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 8.62864132e-06 -1.57079726e+00] +2025-05-26 17:51:51,888 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999982 -0.13499802 0.34433939] +2025-05-26 17:51:51,889 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 4.94633182e-04 -9.00000537e+01] +2025-05-26 17:51:51,890 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.13499803 0.34433942] +2025-05-26 17:51:51,891 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 8.62864234e-06 -1.57079726e+00] +2025-05-26 17:51:51,906 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999987 -0.1349979 0.34433953] +2025-05-26 17:51:51,907 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999970e+02 4.94692223e-04 -9.00000309e+01] +2025-05-26 17:51:51,908 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13499791 0.34433957] +2025-05-26 17:51:51,908 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 8.62864234e-06 -1.57079686e+00] +2025-05-26 17:51:51,924 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999987 -0.1349979 0.34433923] +2025-05-26 17:51:51,925 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999970e+02 4.94750191e-04 -9.00000309e+01] +2025-05-26 17:51:51,926 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999988 -0.1349978 0.34433914] +2025-05-26 17:51:51,926 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 9.58737992e-06 -1.57079686e+00] +2025-05-26 17:51:51,942 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000008 -0.13499802 0.34433919] +2025-05-26 17:51:51,944 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 4.94807104e-04 -9.00000538e+01] +2025-05-26 17:51:51,945 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999977 -0.13499791 0.34433908] +2025-05-26 17:51:51,945 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 9.10801113e-06 -1.57079686e+00] +2025-05-26 17:51:51,963 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999989 -0.13499802 0.34433898] +2025-05-26 17:51:51,968 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 4.94862925e-04 -9.00000538e+01] +2025-05-26 17:51:51,971 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000023 -0.1349978 0.3443396 ] +2025-05-26 17:51:51,974 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 9.10801113e-06 -1.57079686e+00] +2025-05-26 17:51:51,981 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000014 -0.13499779 0.34433952] +2025-05-26 17:51:51,986 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 5.22320098e-04 -9.00000310e+01] +2025-05-26 17:51:51,990 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.13499803 0.34433908] +2025-05-26 17:51:51,991 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 8.14927304e-06 -1.57079633e+00] +2025-05-26 17:51:51,998 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999978 -0.13499802 0.3443391 ] +2025-05-26 17:51:51,999 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.80000000e+02 5.22311561e-04 -9.00000310e+01] +2025-05-26 17:51:52,000 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999986 -0.13499815 0.34433902] +2025-05-26 17:51:52,001 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 8.62864234e-06 -1.57079726e+00] +2025-05-26 17:51:52,017 - 测试日志 - INFO - log.py:106 - position command: [ 0.2499996 -0.13499802 0.34433871] +2025-05-26 17:51:52,019 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 5.22303122e-04 -9.00000843e+01] +2025-05-26 17:51:52,020 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13499803 0.34433914] +2025-05-26 17:51:52,021 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 8.62864234e-06 -1.57079726e+00] +2025-05-26 17:51:52,034 - 测试日志 - INFO - log.py:106 - position command: [ 0.2499999 -0.1349979 0.34433893] +2025-05-26 17:51:52,036 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.8000000e+02 4.9489270e-04 -9.0000031e+01] +2025-05-26 17:51:52,037 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13499791 0.34433896] +2025-05-26 17:51:52,038 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 8.62864234e-06 -1.57079686e+00] +2025-05-26 17:51:52,052 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000008 -0.1349979 0.34433965] +2025-05-26 17:51:52,054 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999924e+02 4.94947022e-04 -9.00000310e+01] +2025-05-26 17:51:52,055 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13499791 0.34433969] +2025-05-26 17:51:52,056 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 8.62864234e-06 -1.57079686e+00] +2025-05-26 17:51:52,071 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000012 -0.13499814 0.34433925] +2025-05-26 17:51:52,071 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999924e+02 4.95000415e-04 -9.00001072e+01] +2025-05-26 17:51:52,072 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999986 -0.13499815 0.34433917] +2025-05-26 17:51:52,072 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 9.10801113e-06 -1.57079779e+00] +2025-05-26 17:51:52,089 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000005 -0.13499813 0.34433937] +2025-05-26 17:51:52,090 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999940e+02 4.67650471e-04 -9.00000538e+01] +2025-05-26 17:51:52,091 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.13499791 0.34433936] +2025-05-26 17:51:52,091 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 8.62864234e-06 -1.57079686e+00] +2025-05-26 17:51:52,107 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999993 -0.13499813 0.34433918] +2025-05-26 17:51:52,108 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999999e+02 4.95166537e-04 -9.00000842e+01] +2025-05-26 17:51:52,108 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999998 -0.13499815 0.34433923] +2025-05-26 17:51:52,109 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 8.62864234e-06 -1.57079779e+00] +2025-05-26 17:52:35,316 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头 +2025-05-26 17:52:38,828 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动 +2025-05-26 17:52:38,832 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999954 -0.13499977 0.34433844] +2025-05-26 17:52:38,835 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 2.74658196e-05 -8.99999695e+01] +2025-05-26 17:52:38,838 - 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