from hardware.dobot_nova5 import dobot_nova5
from hardware.force_sensor import XjcSensor
from algorithms.arm_state import ArmState
from algorithms.controller_manager import ControllerManager
from algorithms.admittance_controller import AdmittanceController
from algorithms.position_controller import PositionController
from tools.log import CustomLogger
from tools.yaml_operator import read_yaml
from tools.Rate import Rate
import numpy as np
import threading
import time
import os
from scipy.spatial.transform import Rotation as R
class MassageRobot:
def __init__(self,arm_config_path,is_log=False):
self.logger = CustomLogger(
log_name="测试日志",
log_file="logs/MassageRobot_nova5_test.log",
precise_time=True)
if is_log:
self.logger_data = CustomLogger(log_name="运动数据日志",
log_file="logs/MassageRobot_kinematics_data.log",
precise_time=True)
# 日志线程
threading.Thread(target=self.log_thread,daemon=True).start()
self.arm_state = ArmState()
self.arm_config = read_yaml(arm_config_path)
# arm 实例化时机械臂类内部进行通讯连接
self.arm = dobot_nova5(arm_ip=self.arm_config['arm_ip'])
self.force_sensor = XjcSensor(host=self.arm_config['arm_ip'],port=60000)
# 控制器初始化(初始化为导纳控制)
self.controller_manager = ControllerManager(self.arm_state)
self.controller_manager.add_controller(AdmittanceController,'admittance',self.arm_config['controller'][0])
self.controller_manager.add_controller(PositionController,'position',self.arm_config['controller'][1])
self.controller_manager.switch_controller('admittance')
# 按摩头参数暂时使用本地数据
massage_head_dir = self.arm_config['massage_head_dir']
all_items = os.listdir(massage_head_dir)
head_config_files = [f for f in all_items if os.path.isfile(os.path.join(massage_head_dir, f))]
self.playload_dict = {}
for file in head_config_files:
file_address = massage_head_dir + '/' + file
play_load = read_yaml(file_address)
self.playload_dict[play_load['name']] = play_load
self.current_head = 'none'
# 频率数据赋值
self.control_rate = Rate(self.arm_config['control_rate'])
self.sensor_rate = Rate(self.arm_config['sensor_rate'])
self.command_rate = Rate(self.arm_config['command_rate'])
# 低通滤波
self.cutoff_freq = 80.0
# 停止标志位线程
self.exit_event = threading.Event()
self.exit_event.set() # 运行初始化为True
self.interrupt_event = threading.Event()
self.interrupt_event.clear() # 中断初始化为False
self.pause_envent = threading.Event()
self.pause_envent.clear() # 暂停初始化为False
self.skip_envent = threading.Event()
self.skip_envent.clear() # 跳过初始化为False
# 按摩调整
self.adjust_wrench_event = threading.Event()
self.adjust_wrench_event.clear() # 调整初始化为False
self.pos_increment = np.zeros(3,dtype=np.float64)
self.adjust_wrench = np.zeros(6,dtype=np.float64)
self.is_waitting = False
self.last_print_time = 0
self.last_record_time = 0
self.last_command_time = 0
self.move_to_point_count = 0
# 卡尔曼滤波相关初始化
self.x_base = np.zeros(6)
self.P_base = np.eye(6)
# 过程噪声协方差矩阵
self.Q_base = np.eye(6) * 0.01
# 测量噪声协方差矩阵
self.R_base = np.eye(6) * 0.1
self.x_tcp = np.zeros(6)
self.P_tcp = np.eye(6)
# 过程噪声协方差矩阵
self.Q_tcp = np.eye(6) * 0.01
# 测量噪声协方差矩阵
self.R_tcp = np.eye(6) * 0.1
# 传感器故障计数器
self.sensor_fail_count = 0
# 机械臂初始化,适配中间层
self.arm.init()
# 预测步骤
def kalman_predict(self,x, P, Q):
# 预测状态（这里假设状态不变）
x_predict = x
# 预测误差协方差
P_predict = P + Q
return x_predict, P_predict
# 更新步骤
def kalman_update(self,x_predict, P_predict, z, R):
# 卡尔曼增益
K = P_predict @ np.linalg.inv(P_predict + R)
# 更新状态
x_update = x_predict + K @ (z - x_predict)
# 更新误差协方差
P_update = (np.eye(len(K)) - K) @ P_predict
return x_update, P_update
def update_wrench(self):
compensation_config = self.playload_dict[self.current_head]
# 读取数据
gravity_base = np.array(compensation_config['gravity_base'])
force_zero = np.array(compensation_config['force_zero'])
torque_zero = np.array(compensation_config['torque_zero'])
tool_position = np.array(compensation_config['tcp_offset'])
mass_center_position = np.array(compensation_config['mass_center_position'])
# 当前的机械臂到末端转换 (实时)
b_rotation_s = R.from_quat(self.arm_state.arm_orientation).as_matrix()
# 读取数据
sensor_data = self.force_sensor.read()
if sensor_data is None:
self.force_sensor.stop_background_reading()
self.logger.log_error("传感器数据读取失败")
return -1
# 传感器数据通过矫正计算得到外来施加力 传感器坐标系下
# 重力和零位
gravity_in_sensor = b_rotation_s.T @ gravity_base
s_force = sensor_data[:3] - force_zero - gravity_in_sensor
# 力矩
s_torque = sensor_data[3:] - torque_zero - np.cross(mass_center_position,gravity_in_sensor)
wrench = np.concatenate([s_force,s_torque])
# 传感器工具转换
s_tf_matrix_t = self.get_tf_matrix(tool_position[:3], R.from_euler('xyz',tool_position[3:],degrees=False).as_quat())
# 传感器到TCP
wrench = self.wrench_coordinate_conversion(s_tf_matrix_t,wrench)
# 交给ARM STATE集中管理
self.arm_state.external_wrench_tcp = wrench
self.arm_state.external_wrench_base = np.concatenate([b_rotation_s @ self.arm_state.external_wrench_tcp[:3],
b_rotation_s @ self.arm_state.external_wrench_tcp[3:]])
# 卡尔曼滤波
x_base_predict, P_base_predict = self.kalman_predict(x = self.x_base,
P = self.P_base,
Q = self.Q_base)
self.x_base, self.P_base = self.kalman_update(x_predict = x_base_predict,
P_predict = P_base_predict,
z = self.arm_state.external_wrench_base,
R = self.R_base)
self.arm_state.external_wrench_base = self.x_base
self.arm_state.last_external_wrench_base = self.arm_state.external_wrench_base
# 对tcp坐标系下的外力外矩进行平滑
x_tcp_predict, P_tcp_predict = self.kalman_predict(x = self.x_tcp,
P = self.P_tcp,
Q = self.Q_tcp)
self.x_tcp, self.P_tcp = self.kalman_update(x_predict = x_tcp_predict,
P_predict = P_tcp_predict,
z = self.arm_state.external_wrench_tcp,
R = self.R_tcp)
self.arm_state.external_wrench_tcp = self.x_tcp
self.arm_state.last_external_wrench_tcp = self.arm_state.external_wrench_tcp
return 0
def arm_measure_loop(self):
self.logger.log_info("机械臂测量线程启动")
while (not self.arm.is_exit) and (not self.exit_event.is_set()):
try:
if not self.is_waitting:
self.arm_state.arm_position,
self.arm_state.arm_orientation = self.arm.get_arm_position()
code = self.update_wrench()
if code == -1:
self.sensor_fail_count += 1
self.logger.log_error(f"传感器线程数据读取失败-{self.sensor_fail_count}")
if self.sensor_fail_count > 10:
self.logger.log_error("传感器线程数据读取失败超过10次,程序终止")
self.stop()
break
else:
self.sensor_fail_count = 0
except Exception as e:
self.logger.log_error(f"机械臂测量线程报错:{e}")
self.exit_event.set() # 控制退出while
self.sensor_rate.precise_sleep() # 控制频率
def arm_command_loop(self):
self.logger.log_info("机械臂控制线程启动")
while (not self.arm.is_exit) and (not self.exit_event.is_set()):
try:
if not self.is_waitting:
self.controller_manager.step(self.control_rate.to_sec())
self.last_command_time += 1
code = self.arm.ServoPose(self.arm_state.arm_position,
self.arm_state.arm_orientation_command)
if code == -1:
self.logger.log_error("机械臂急停")
# self.stop() # 底层已经做了急停处理
break
except Exception as e:
self.logger.log_error(f"机械臂控制失败:{e}")
self.exit_event.set()
self.control_rate.precise_sleep()
def start(self):
if self.exit_event.is_set():
# 线程
self.exit_event.clear()
self.arm_measure_thread = threading.Thread(target=self.arm_measure_loop)
self.arm_control_thread = threading.Thread(target=self.arm_command_loop)
self.arm_measure_thread.start()
position,quat_rot = self.arm.get_arm_position()
# 初始值
self.arm_state.desired_position = position
self.arm_state.arm_position_command = position
self.arm_state.desired_orientation = quat_rot
self.arm_state.arm_orientation_command = quat_rot
self.logger.log_info("MassageRobot启动")
time.sleep(0.5)
def stop(self):
if not self.exit_event.is_set():
self.exit_event.set()
self.interrupt_event.clear()
self.arm_control_thread.join()
self.arm_measure_thread.join()
for i in range(3):
self.force_sensor.disable_active_transmission()
self.force_sensor.start_background_reading()
self.arm.stop_motion()
self.logger.log_info("MassageRobot停止")
def init_hardwares(self,ready_pose):
self.ready_pose = np.array(ready_pose)
self.switch_payload(self.current_head)
self.arm_state.desired_orientation = self.ready_pose[:3]
euler_angles = self.ready_pose
self.arm_state.desired_orientation = R.from_euler('xyz',euler_angles).as_quat()
time.sleep(0.5)
def switch_payload(self,name):
if name in self.playload_dict:
self.stop()
self.current_head = name
tcp_offset = self.playload_dict[name]["tcp_offset"]
tcp_offset_str = "{" + ",".join(map(str, tcp_offset)) + "}"
print(tcp_offset_str)
self.arm.setEndEffector(i=1,tool_i=tcp_offset_str)
self.arm.chooseEndEffector(i=1)
self.logger.log_info(f"切换到{name}按摩头")
R_matrix = R.from_euler('xyz',self.ready_pose[3:] ,degrees=False).as_matrix()
ready_position = self.ready_pose[:3] + R_matrix @ self.playload_dict[self.current_head]['tcp_offset'][:3]
ready_orientation = R_matrix @ R.from_euler('xyz',self.playload_dict[self.current_head]['tcp_offset'][3:],degrees=False).as_matrix()
ready_orientation_euler = R.from_matrix(ready_orientation).as_euler('xyz',degrees=False)
self.arm_state.desired_position = ready_position
self.arm_state.desired_orientation = R.from_euler('xyz',ready_orientation_euler,degrees=False).as_quat()
self.controller_manager.switch_controller('position')
else:
self.logger.log_error(f"未找到{name}按摩头")
def log_thread(self):
while True:
self.logger_data.log_info(f"机械臂位置:{self.arm_state.arm_position},机械臂姿态:{self.arm_state.arm_orientation}",is_print=False)
self.logger_data.log_info(f"机械臂期望位置:{self.arm_state.desired_position},机械臂真实位置:{self.arm_state.arm_position}",is_print=False)
self.logger_data.log_info(f"机械臂期望姿态:{self.arm_state.desired_orientation},机械臂真实姿态:{self.arm_state.arm_orientation}",is_print=False)
self.logger_data.log_info(f"机械臂期望力矩:{self.arm_state.desired_wrench},机械臂真实力矩:{self.arm_state.external_wrench_base}",is_print=False)
self.logger_data.log_info(f"当前按摩头:{self.current_head}",is_print=False)
time.sleep(1)
# 工具函数
def get_tf_matrix(position,orientation):
tf_matrix = np.eye(4)
rotation_matrix = R.from_quat(orientation).as_matrix()
tf_matrix[:3,3] = position
tf_matrix[:3,:3] = rotation_matrix
return tf_matrix
def wrench_coordinate_conversion(tf_matrix, wrench):
rot_matrix = tf_matrix[:3, :3]
vector_p = tf_matrix[:3, 3]
temp_force = wrench[:3]
torque = wrench[3:]
force = rot_matrix.T @ temp_force
torque = rot_matrix.T @ np.cross(temp_force,vector_p) + rot_matrix.T @ torque
return np.concatenate([force, torque])
if __name__ == "__main__":
robot = MassageRobot(arm_config_path="MassageControl/config/robot_config.yaml")