506 lines
23 KiB
Python
506 lines
23 KiB
Python
from hardware.dobot_nova5 import dobot_nova5
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from hardware.force_sensor import XjcSensor
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from algorithms.arm_state import ArmState
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from algorithms.controller_manager import ControllerManager
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from algorithms.admittance_controller import AdmittanceController
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from algorithms.position_controller import PositionController
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from tools.log import CustomLogger
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from tools.yaml_operator import read_yaml
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from tools.Rate import Rate
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import numpy as np
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import threading
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import time
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import os
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from scipy.spatial.transform import Rotation as R
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import ctypes
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libc = ctypes.CDLL("libc.so.6")
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import atexit
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from tools.Trajectory import TrajectoryInterpolator
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from scipy.spatial.transform import Slerp
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class MassageRobot:
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def __init__(self,arm_config_path,is_log=False):
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self.logger = CustomLogger(
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log_name="测试日志",
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log_file="logs/MassageRobot_nova5_test.log",
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precise_time=True)
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if is_log:
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self.logger_data = CustomLogger(log_name="运动数据日志",
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log_file="logs/MassageRobot_kinematics_data.log",
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precise_time=True)
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# 日志线程
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threading.Thread(target=self.log_thread,daemon=True).start()
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self.arm_state = ArmState()
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self.arm_config = read_yaml(arm_config_path)
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# arm 实例化时机械臂类内部进行通讯连接
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self.arm = dobot_nova5(self.arm_config['arm_ip'])
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self.arm.start()
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# 传感器
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self.force_sensor = XjcSensor()
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self.force_sensor.connect()
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# 控制器初始化(初始化为导纳控制)
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self.controller_manager = ControllerManager(self.arm_state)
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self.controller_manager.add_controller(AdmittanceController,'admittance',self.arm_config['controller'][0])
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self.controller_manager.add_controller(PositionController,'position',self.arm_config['controller'][1])
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self.controller_manager.switch_controller('admittance')
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# 按摩头参数暂时使用本地数据
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massage_head_dir = self.arm_config['massage_head_dir']
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all_items = os.listdir(massage_head_dir)
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head_config_files = [f for f in all_items if os.path.isfile(os.path.join(massage_head_dir, f))]
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self.playload_dict = {}
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for file in head_config_files:
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file_address = massage_head_dir + '/' + file
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play_load = read_yaml(file_address)
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self.playload_dict[play_load['name']] = play_load
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self.current_head = 'none'
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# 读取数据
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self.gravity_base = None
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self.force_zero = None
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self.torque_zero = None
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self.tool_position = None
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self.mass_center_position = None
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self.s_tf_matrix_t = None
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arm_orientation_set0 = np.array([-180,0,-90])
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self.b_rotation_s_set0 = R.from_euler('xyz',arm_orientation_set0,degrees=True).as_matrix()
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# 频率数据赋值
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self.control_rate = Rate(self.arm_config['control_rate'])
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self.sensor_rate = Rate(self.arm_config['sensor_rate'])
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self.command_rate = Rate(self.arm_config['command_rate'])
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# 低通滤波
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self.cutoff_freq = 80.0
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# 停止标志位线程
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self.exit_event = threading.Event()
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self.exit_event.set() # 运行初始化为True
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self.interrupt_event = threading.Event()
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self.interrupt_event.clear() # 中断初始化为False
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self.pause_envent = threading.Event()
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self.pause_envent.clear() # 暂停初始化为False
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self.skip_envent = threading.Event()
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self.skip_envent.clear() # 跳过初始化为False
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# 按摩调整
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self.adjust_wrench_event = threading.Event()
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self.adjust_wrench_event.clear() # 调整初始化为False
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self.pos_increment = np.zeros(3,dtype=np.float64)
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self.adjust_wrench = np.zeros(6,dtype=np.float64)
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self.is_waitting = False
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self.last_print_time = 0
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self.last_record_time = 0
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self.last_command_time = 0
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self.move_to_point_count = 0
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# 卡尔曼滤波相关初始化
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self.x_base = np.zeros(6)
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self.P_base = np.eye(6)
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# 过程噪声协方差矩阵
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self.Q_base = np.eye(6) * 0.01
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# 测量噪声协方差矩阵
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self.R_base = np.eye(6) * 0.1
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self.x_tcp = np.zeros(6)
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self.P_tcp = np.eye(6)
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# 过程噪声协方差矩阵
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self.Q_tcp = np.eye(6) * 0.01
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# 测量噪声协方差矩阵
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self.R_tcp = np.eye(6) * 0.1
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# 传感器故障计数器
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self.sensor_fail_count = 0
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# 机械臂初始化,适配中间层
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self.arm.init()
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# REF TRAJ
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self.xr = []
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self.vr = []
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self.ar = []
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self.ts = [] # time sequence
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self.dt = [] # derivate of time
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# ---
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self.last_time = -1
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self.cur_time = -1
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# 预测步骤
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def kalman_predict(self,x, P, Q):
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# 预测状态（这里假设状态不变）
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x_predict = x
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# 预测误差协方差
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P_predict = P + Q
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return x_predict, P_predict
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# 更新步骤
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def kalman_update(self,x_predict, P_predict, z, R):
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# 卡尔曼增益
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# K = P_predict @ np.linalg.inv(P_predict + R)
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S = P_predict + R
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s = np.diag(S) # shape (6,)
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p_diag = np.diag(P_predict)
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K_diag = np.zeros_like(s)
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nonzero_mask = s != 0
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K_diag[nonzero_mask] = p_diag[nonzero_mask] / s[nonzero_mask]
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K = np.diag(K_diag)
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# 更新状态
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x_update = x_predict + K @ (z - x_predict)
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# 更新误差协方差
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P_update = (np.eye(len(K)) - K) @ P_predict
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return x_update, P_update
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def update_wrench(self):
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# 当前的机械臂到末端转换 (实时)
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b_rotation_s = R.from_quat(self.arm_state.arm_orientation).as_matrix()
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# 读取数据
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sensor_data = self.force_sensor.read()
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# self.logger.log_info(f"传感器数据{sensor_data}")
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if sensor_data is None:
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self.force_sensor.stop_background_reading()
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self.logger.log_error("传感器数据读取失败")
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return -1
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# 反重力补偿
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sensor_data[:3] = sensor_data[:3] + self.force_zero + self.b_rotation_s_set0.T @ self.gravity_base
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sensor_data[3:] = sensor_data[3:] + self.torque_zero + np.cross(self.mass_center_position, self.b_rotation_s_set0.T @ self.gravity_base)
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# 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
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# 重力
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gravity_in_sensor = b_rotation_s.T @ self.gravity_base
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s_force = sensor_data[:3] - self.force_zero - gravity_in_sensor
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# 力矩
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s_torque = sensor_data[3:] - self.torque_zero - np.cross(self.mass_center_position,gravity_in_sensor)
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wrench = np.concatenate([s_force,s_torque])
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# 传感器到TCP
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wrench = self.wrench_coordinate_conversion(self.s_tf_matrix_t,wrench)
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# 交给ARM STATE集中管理
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self.arm_state.external_wrench_tcp = wrench
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# 对tcp坐标系下的外力外矩进行平滑
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x_tcp_predict, P_tcp_predict = self.kalman_predict(x = self.x_tcp,
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P = self.P_tcp,
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Q = self.Q_tcp)
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self.x_tcp, self.P_tcp = self.kalman_update(x_predict = x_tcp_predict,
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P_predict = P_tcp_predict,
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z = self.arm_state.external_wrench_tcp,
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R = self.R_tcp)
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self.arm_state.external_wrench_tcp = self.x_tcp
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self.arm_state.last_external_wrench_tcp = self.arm_state.external_wrench_tcp
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return 0
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# ####################### 位姿伺服 ##########################
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def arm_measure_loop(self):
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self.logger.log_info("机械臂测量线程启动")
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while (not self.arm.is_exit) and (not self.exit_event.is_set()):
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try:
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if not self.is_waitting:
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self.arm_state.arm_position,self.arm_state.arm_orientation = self.arm.get_arm_position()
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code = self.update_wrench()
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if code == -1:
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self.sensor_fail_count += 1
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self.logger.log_error(f"传感器线程数据读取失败-{self.sensor_fail_count}")
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if self.sensor_fail_count > 10:
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self.logger.log_error("传感器线程数据读取失败超过10次,程序终止")
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self.stop()
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break
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else:
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self.sensor_fail_count = 0
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except Exception as e:
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self.logger.log_error(f"机械臂测量线程报错:{e}")
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self.exit_event.set() # 控制退出while
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self.sensor_rate.sleep() # 控制频率
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def arm_command_loop_traj(self):
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self.logger.log_info("机械臂控制线程启动")
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# 离线轨迹启动时间记录
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self.traj_start_time = time.time()
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while (not self.arm.is_exit) and (not self.exit_event.is_set()):
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try:
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if not self.is_waitting:
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process_start_time = time.time()
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control_cycle = self.control_rate.to_sec()
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t_now = time.time() - self.traj_start_time
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i = min(int(t_now / self.dt), len(self.ts) - 2)
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alpha = max(0.0, min(1.0, (t_now - self.ts[i]) / self.dt))
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pos = (1 - alpha) * self.xr[i][:3] + alpha * self.xr[i+1][:3]
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slerp = Slerp([0, 1], R.concatenate([R.from_quat(self.xr[i][3:]), R.from_quat(self.xr[i+1][3:])]))
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alpha = 0.5
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rot_interp = slerp(alpha).as_quat()
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xr = np.concatenate([pos, rot_interp])
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# xr = (1-alpha) * self.xr[i] + alpha * self.xr[i+1]
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vr = (1 - alpha) * self.vr[i] + alpha * self.vr[i + 1]
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ar = (1 - alpha) * self.ar[i] + alpha * self.ar[i + 1]
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self.arm_state.desired_position = xr[:3]
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# self.arm_state.desired_orientation = xr[3:]
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# print(111)
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self.arm_state.desired_orientation = rot_interp
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# print(222)
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self.arm_state.desired_twist = vr
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self.arm_state.desired_acc = ar
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print("self.arm_state.desired_position",self.arm_state.desired_position)
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print("self.arm_state.desired_orientation",self.arm_state.desired_orientation)
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print("self.arm_state.desired_twist",self.arm_state.desired_twist)
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print("self.arm_state.desired_acc",self.arm_state.desired_acc)
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self.controller_manager.step_traj(control_cycle)
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# self.controller_manager.step(control_cycle)
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command_pose = np.concatenate([
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self.arm_state.arm_position_command * 1000, # 转毫米
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self.arm_state.arm_orientation_command
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])
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## 输入滤波
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status, pose_processed = self.arm.process_command(
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command_pose[:3],
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command_pose[3:]
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)
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# print(f"pose_processed:{pose_processed}")
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tcp_command = (
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f"ServoP({pose_processed[0]:.3f},{pose_processed[1]:.3f},"
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f"{pose_processed[2]:.3f},{pose_processed[3]:.3f},"
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f"{pose_processed[4]:.3f},{pose_processed[5]:.3f},"
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"t=0.02, aheadtime=20, gain=200)"
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).encode()
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run_time = time.time() - process_start_time
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sleep_duration = self.control_rate.to_sec() - run_time
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b2 =time.time()
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if sleep_duration > 0:
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time.sleep(sleep_duration)
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print(f"real sleep:{time.time()-b2}")
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# self.arm.dashboard.socket_dobot.sendall(tcp_command)
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if self.arm.feedbackData.robotMode == 10: # 10 当前工程暂停
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print("机械臂为暂停状态")
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res = self.arm.dashboard.Continue()
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code = self.arm.parseResultId(res)[0]
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if code == 0:
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print("机械臂继续已暂停的运动指令")
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except Exception as e:
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self.logger.log_error(f"机械臂控制失败:{e}")
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self.exit_event.set()
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# print(f"循环周期时间: {time.time()-process_start_time:.4f} 秒",run_time,sleep_duration)
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def arm_command_loop(self):
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self.logger.log_info("机械臂控制线程启动")
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while (not self.arm.is_exit) and (not self.exit_event.is_set()):
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try:
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if not self.is_waitting:
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process_start_time = time.time()
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control_cycle = self.control_rate.to_sec()
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self.controller_manager.step(control_cycle)
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command_pose = np.concatenate([
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self.arm_state.arm_position_command * 1000, # 转毫米
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self.arm_state.arm_orientation_command
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])
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## 输入滤波
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status, pose_processed = self.arm.process_command(
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command_pose[:3],
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command_pose[3:]
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)
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# print(f"pose_processed:{pose_processed}")
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tcp_command = (
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f"ServoP({pose_processed[0]:.3f},{pose_processed[1]:.3f},"
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f"{pose_processed[2]:.3f},{pose_processed[3]:.3f},"
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f"{pose_processed[4]:.3f},{pose_processed[5]:.3f},"
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"t=0.02, aheadtime=20, gain=200)"
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).encode()
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run_time = time.time() - process_start_time
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sleep_duration = self.control_rate.to_sec() - run_time
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b2 =time.time()
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if sleep_duration > 0:
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time.sleep(sleep_duration)
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print(f"real sleep:{time.time()-b2}")
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self.arm.dashboard.socket_dobot.sendall(tcp_command)
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if self.arm.feedbackData.robotMode == 10: # 10 当前工程暂停
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print("机械臂为暂停状态")
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res = self.arm.dashboard.Continue()
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code = self.arm.parseResultId(res)[0]
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if code == 0:
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print("机械臂继续已暂停的运动指令")
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except Exception as e:
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self.logger.log_error(f"机械臂控制失败:{e}")
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self.exit_event.set()
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# print(f"循环周期时间: {time.time()-process_start_time:.4f} 秒",run_time,sleep_duration)
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####################### 位姿伺服 ##########################
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def start(self):
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if self.exit_event.is_set():
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# 线程
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self.exit_event.clear()
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self.arm_measure_thread = threading.Thread(target=self.arm_measure_loop)
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self.arm_control_thread = threading.Thread(target=self.arm_command_loop_traj)
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# 线程启动
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self.arm_measure_thread.start() ## 测量线程
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position,quat_rot = self.arm.get_arm_position()
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# 初始值
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self.arm_state.desired_position = position
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self.arm_state.arm_position_command = position
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self.arm_state.desired_orientation = quat_rot
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self.arm_state.arm_orientation_command = quat_rot
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self.arm_state.arm_position = position
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self.arm_state.arm_orientation = quat_rot
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for i in range(20):
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self.controller_manager.step(self.control_rate.to_sec())
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self.logger.log_blue(f"position command: {self.arm_state.arm_position_command}")
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self.logger.log_blue(f"orientation command: {R.from_quat(self.arm_state.arm_orientation_command).as_euler('xyz',degrees=True)}")
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position, quat_rot = self.arm.get_arm_position()
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self.logger.log_blue(f"position current:{position}")
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self.logger.log_blue(f"orientation current: {R.from_quat(quat_rot).as_euler('xyz',degrees=False)}")
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self.command_rate.precise_sleep()
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position ,quat_rot = self.arm.get_arm_position()
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# self.arm_state.desired_position = poistion
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self.arm_state.arm_position_command = position
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# self.arm_state.desired_orientation = quat_rot
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self.arm_state.arm_orientation_command = quat_rot
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## POSITION CONTROLLER TEST ##
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# delta_pos = np.array([0.1,0.1,-0.1],dtype=np.float64)
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# # delta_quat = R.from_euler('xyz', [0, 0, 0], degrees=True).as_quat()
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# self.arm_state.desired_position = position + delta_pos
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# self.arm_state.desired_orientation = quat_rot
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# 线程启动
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self.arm_control_thread.start() ## 赋初始值后控制线程
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self.logger.log_info("MassageRobot启动")
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time.sleep(0.5)
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def stop(self):
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if not self.exit_event.is_set():
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self.exit_event.set()
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self.interrupt_event.clear()
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self.arm_control_thread.join()
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self.arm_measure_thread.join()
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for i in range(3):
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self.force_sensor.disable_active_transmission()
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self.force_sensor.start_background_reading()
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self.arm.stop_motion()
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self.logger.log_info("MassageRobot停止")
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def init_hardwares(self,ready_pose):
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self.ready_pose = np.array(ready_pose)
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self.switch_payload(self.current_head)
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print(self.arm.get_arm_position())
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|
time.sleep(0.5)
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|
|
|
def switch_payload(self,name):
|
|
if name in self.playload_dict:
|
|
self.stop()
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|
self.current_head = name
|
|
|
|
compensation_config = self.playload_dict[self.current_head]
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|
|
|
# 读取数据
|
|
self.gravity_base = np.array(compensation_config['gravity_base'])
|
|
self.force_zero = np.array(compensation_config['force_zero'])
|
|
self.torque_zero = np.array(compensation_config['torque_zero'])
|
|
self.tool_position = np.array(compensation_config['tcp_offset'])
|
|
self.mass_center_position = np.array(compensation_config['mass_center_position'])
|
|
self.s_tf_matrix_t = self.get_tf_matrix(self.tool_position[:3], R.from_euler('xyz',self.tool_position[3:],degrees=False).as_quat())
|
|
|
|
tcp_offset = self.playload_dict[name]["tcp_offset"]
|
|
tcp_offset_str = "{" + ",".join(map(str, tcp_offset)) + "}"
|
|
print("tcp_offset_str",tcp_offset_str)
|
|
self.arm.setEndEffector(i=9,tool_i=tcp_offset_str)
|
|
self.arm.chooseEndEffector(i=9)
|
|
print(self.arm.get_arm_position())
|
|
self.logger.log_info(f"切换到{name}按摩头")
|
|
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(self,position,orientation):
|
|
tf_matrix = np.eye(4)
|
|
rotation_matrix = R.from_quat(orientation).as_matrix()
|
|
tf_matrix[:3,3] = position/1000
|
|
tf_matrix[:3,:3] = rotation_matrix
|
|
return tf_matrix
|
|
def wrench_coordinate_conversion(self,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__":
|
|
waypoints = [
|
|
{"time": 0.0, "position": [0.25, -0.135, 0.3443], "velocity": [0, 0, 0],
|
|
"acceleration": [0, 0, 0],
|
|
"orientation": R.from_euler("xyz", [0, 0, 0], degrees=True).as_quat()},
|
|
{"time": 5.0, "position": [0.30, -0.135, 0.3043], "velocity": [0, 0, 0],
|
|
"acceleration": [0, 0, 0],
|
|
"orientation": R.from_euler("xyz", [0, 30, 30], degrees=True).as_quat()},
|
|
] ## 单位 m deg
|
|
myInterpolate = TrajectoryInterpolator(waypoints)
|
|
ts = np.linspace(0,5,100)
|
|
robot = MassageRobot(arm_config_path="/home/jsfb/jsfb/MassageRobot_Dobot/Massage/MassageControl/config/robot_config.yaml")
|
|
xr_list, vr_list, ar_list = [], [], []
|
|
for t in ts:
|
|
xr, vr, ar = myInterpolate.interpolate(t)
|
|
xr_list.append(xr)
|
|
vr_list.append(vr)
|
|
ar_list.append(ar)
|
|
xr_array = np.array(xr_list)
|
|
vr_array = np.array(vr_list)
|
|
ar_array = np.array(ar_list)
|
|
|
|
robot.xr = xr_array
|
|
robot.vr = vr_array
|
|
robot.ar = ar_array
|
|
robot.ts = ts
|
|
robot.dt = ts[1] - ts[0]
|
|
|
|
|
|
ready_pose = [250.0, -135.0, 344.3392, -180.0, 0.0, -90.0]
|
|
robot.current_head = 'finger_head'
|
|
|
|
robot.force_sensor.disable_active_transmission()
|
|
time.sleep(0.5)
|
|
robot.force_sensor.disable_active_transmission()
|
|
time.sleep(0.5)
|
|
robot.force_sensor.disable_active_transmission()
|
|
time.sleep(0.5)
|
|
robot.force_sensor.set_zero()
|
|
time.sleep(0.5)
|
|
robot.force_sensor.enable_active_transmission()
|
|
|
|
robot.init_hardwares(ready_pose)
|
|
time.sleep(3)
|
|
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)
|
|
robot_thread.start()
|
|
except KeyboardInterrupt:
|
|
print("用户中断操作。")
|
|
except Exception as e:
|
|
print("Exception occurred at line:", e.__traceback__.tb_lineno)
|
|
print("发生异常：", e)
|
|
|
|
|
|
# robot.arm.disableRobot() |