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Open Jig Ware : : Mail : [email protected]
3D , , . , Forward/Inverse , .Forward Kinematics .D-H Notation 3D , C# Using, , , Drawing 4 3D (, , , ) . DLL 255 . Message History, Timer, Joystick, Graph, , File /, .3D
OpenJigWare ?
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. ? . ?Kinematics .
Making the suit2008. Iron man
Microsoft Visual Studio 2010C# ( with Tao frame work : OpenGL )
https://youtu.be/l_QerQFRaZkhttps://youtu.be/GY4MUXbbW20
. Jig . 3D 2 / / 5 D-H Notation 3D & Tool DLL . Tool .Ex) OpenCV DLL DLL Using OpenJigWare ROS ?
Source & DLLOpenJigWare https://github.com/ojw5014/OpenJigWare, .. Github Github ~~~Manual Document .www.youtube.com ojw5014 OpenJigWare [Example] .Ex ) https://www.youtube.com/watch?v=tqgSO_PA_cU
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Message History MessageBox History Message ( )Convert . Parameter Loading . .Dst robot( ) , ( Rpm Time )3D 2D 3D .Forward / Inverse Kinematics
2D 3D
()
. 10 3D . OpenGL .Forward / Inverse Kinematics .
. Cad .ASE, OBJ, STL(text/binary) ., , Mirror , , Limit, (/ ), , ID, Flip (, , Mirror ), , / ., , , , .
[ ]
Modeling toolMotion tool
,
https://www.youtube.com/watch?v=ol29At-4OWc 200https://www.youtube.com/watch?v=_c2tNN-tayA
https://youtu.be/BEr_5CZqk-whttps://youtu.be/srUZRiMfd8k
Cad . Step 1 Cad (obj, ase, stl . ase .)
Cad . Step 2 DispObject .# 17 Ase . .
Cad . Step 3 Add .
1. Offset 100 45 2. Y 50 , Y 45 1. Offset 2. Trans / Rotation ( OpenGL 3D )
Cad . Step 4 Add .( )
. Property grid. . Virtual Object( .)
(60%) . .
()Manipulator
( )
. . Ctrl^C, Ctrl^V . Switch
Switch / / , , . : Switch
(HexaPod )
. . Ctrl^C, Ctrl^V . Switch
Switch . :
: Switch
Genibo Hovis series DR-Sim Sync
. Github https://github.com/ojw5014/OpenJigWare ?
OpenSource
TeacherStudentModeling Tool
Using OpenJigware.dllDrawing(3D)Motor (Limit, ) Engineer
Visual Studio C# ( 4)
Modeling Tool (, , , ) Drawing(3D)Motor (Limit, )
. , Maya, 3D Max 3D ( obj, ase, stl[Binary or Text] .)Autodesk 123Design .() Drawing .
? [1/2]
!!!.3D , Thingiverse, Yeggi
? [2/2]
http://www.thingiverse.comhttp://www.yeggi.com/
( ) & 1 2 2 4 3 4 ID
(Non-Case Sensitive)=> X, Y, Z( )T0 ~ T255 : V0 ~ V252 : External ( : . 0 =(), +, -, *, /, %()V0 ~ V252 : External ( ) : sin(), cos(), tan(), asin(), acos(), atan(), pow(,), sqrt(,), abs(), atan2(,), acos2(), asin2()_, ; : ( ) .++, , +*, */, /- ( )+, -, *, /, % . Radian , .
String separate . ._V() .Sort (X,/,%)
, V , T , , Basic , 1
Basic Assembler 2
Assembler Code 3
Code GenerationCode Binary Code ( ) . 4
Over ?
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////////////////////////////////////////////////////////////////////// // (-1), (1) - //v1=pow(-1,(v0 + 1)) // 0(-1), 1(1), 2(-1). 3(1). 4(-1). 5(1). 6(-1). 7(1). 8(-1), 9(1), 10(-1)
// 0, -1, 1 - //a=5//v1=(v0-a)/abs(v0-a) // 0(-1), 1(-1), 2(-1). 3(-1). 4(-1). 5(0). 6(1). 7(1). 8(1), 9(1), 10(1)
// 0, 1//a=5//v1=abs((v0-a)/abs(v0-a)) // 0(1), 1(1), 2(1). 3(1). 4(1). 5(0). 6(1). 7(1). 8(1), 9(1), 10(1)
// 1, 0//a=5//v1=abs(abs((v0-a)/abs(v0-a))-1) // 0(1), 1(1), 2(1). 3(1). 4(1). 5(0). 6(1). 7(1). 8(1), 9(1), 10(1)////////////////////////////////////////////////////////////////////
//v0 = 0 = ( + v1(tilt) + v2(swing))//v0 = 1 = ( + v1(tilt) + v2(swing))//v0 = 2 = ( + v1(tilt) + v2(swing))//v0 = 3 ( )//v0 = 4 ( )//v1 = offset (Tilt)//v2 = offset (Swing)
Kinematics ?Kinematics
37About KinematicsForward kinematicsJoint Angle Cartesian space(x, y, z)Simple and Unique solutionInverse kinematicsCartesian space(x, y, z) Joint AngleIt is not a unique solution, difficult(but delta system) Sometimes we have singular position or some position we cannot go
The Leader of Intelligence Robot
38Forward Kinematics(1/2)
Translation
to Matrix
The Leader of Intelligence Robot
39Forward Kinematics(2/2)
Rotation : R
The Leader of Intelligence Robot
40Forward Kinematics (D-H Notation)
T(Transformation Matrix)It has rotation and translation in their 4 * 4 matrix
Parameter
DefineX(i+1) and Z(i) is orthogonalX(i+1) and Z(i) has a matching point
The Leader of Intelligence Robot
41D-H Notation Matrix
The Leader of Intelligence Robot
The Leader of Intelligence Robot
D-H Notation https://youtu.be/7lqSJNfkxe8
The Leader of Intelligence Robot
kinematicsD-H Notation 2 D-H 3D 3D D-H Notation . 0
The Leader of Intelligence Robot
45Forward Kinematics & Program(1/2)
D-H Notation
1 0 0 00 1 0 00 0 1 -2460 0 0 11 0 0 00 0 1 00 -1 0 00 0 0 1C(t2) -S(t2) 0 0S(t2) C(t2) 0 0 0 0 1 190 0 0 0 1 a d 0 [ 0, -246, 0, 0]1 [ 0, 0, 0, -90]2 [ 0, 190, 2, 0]3 [ 0, 200, 0, 0]4 [ 0, 0, 90, 90]5 [625, 0, 3+90, 0]6 [482, 0, 4, 0]7 [ 0, 0, 5, 0] // Orientation1 0 0 00 0 0 00 0 1 2000 0 0 10 0 1 01 0 0 00 1 0 00 0 0 1C(t3+90) -S(t3+90) 0 625*C(t3+90)S(t3+90) C(t3+90) 0 625*S(t3+90) 0 0 1 0 0 0 0 1C(t4) -S(t4) 0 482*C(t4)S(t4) C(t4) 0 482*S(t4) 0 0 1 0 0 0 0 1Add Rotation(5)
The Leader of Intelligence Robot
46Forward Kinematics & Program(2/2)https://youtu.be/detjVR1dG08
The Leader of Intelligence Robot
47Kinematics
-S(t2)*C(t3+90)*C(t4)-S(t2)*-S(t3+90)*S(t4)*C(t5) -S(t2)*C(t3+90)*C(t4)-S(t2)*-S(t3+90)*S(t4)*-S(t5) C(t2) -S(t2)*C(t3+90)*482*C(t4)-S(t2)*-S(t3+90)*482*S(t4)-S(t2)*625*C(t3+90)-S(t2)*C(t3+90)*-S(t4)-S(t2)*-S(t3+90)*C(t4)*S(t5) -S(t2)*C(t3+90)*-S(t4)-S(t2)*-S(t3+90)*C(t4)*C(t5)
S(t3+90)*C(t4)+C(t3+90)*S(t4)*C(t5)+ S(t3+90)*C(t4)+C(t3+90)*S(t4)*-S(t5)+S(t3+90)* 0 S(t3+90)*482*C(t4)+C(t3+90)*482*S(t4)+625*S(t3+90)+200+190S(t3+90)*-S(t4)+C(t3+90)*C(t4)*S(t5) -S(t4)+C(t3+90)*C(t4)*C(t5)
-1*C(t2)*C(t3+90)*C(t4)-1*C(t2)*-S(t3+90)*S(t4)*C(t5) -1*C(t2)*C(t3+90)*C(t4)-1*C(t2)*-S(t3+90)*S(t4)*-S(t5) -1*S(t2) -1*C(t2)*C(t3+90)*482*C(t4)-1*C(t2)*-S(t3+90)*482*S(t4)-1*C(t2)*625*C(t3+90)-246-1*C(t2)*C(t3+90)*-S(t4)-1*C(t2)*-S(t3+90)*C(t4)*S(t5) -1*C(t2)*C(t3+90)*-S(t4)-1*C(t2)*-S(t3+90)*C(t4)*C(t5)
0 0 0 1
[Axis X][Axis Y][Axis Z][Result]
X = -Sin(t2) * Cos(t3+90) * 482 * Cos(t4) - Sin(t2) * -Sin(t3+90) * 482 * Sin(t4) - Sin(t2) * 625 * Cos(t3+90)Y = Sin(t3+90) * 482 * Cos(t4) + Cos(t3+90) * 482 * Sin(t4) + 625 * Sin(t3+90) + 200 + 190Z = -1 * Cos(t2) * Cos(t3+90) * 482 * Cos(t4) 1 * Cos(t2) * -Sin(t3+90) * 482 * Sin(t4) 1 * Cos(t2) * 625 * Cos(t3+90) - 246
[For example ] t2 = 30 t3 = 60 t4 = 110 t5 = -60=====================================X = -S(t2)*C(t3+90)*482*C(t4)-S(t2)*-S(t3+90)*482*S(t4)-S(t2)*625*C(t3+90) = 312.4821495Y = S(t3+90)*482*C(t4)+C(t3+90)*482*S(t4)+625*S(t3+90)+200+190 = 227.822663Z = -1*C(t2)*C(t3+90)*482*C(t4)-1*C(t2)*-S(t3+90)*482*S(t4)-1*C(t2)*625*C(t3+90)-246 = 295.2349594
The Leader of Intelligence Robot
48Inverse Kinematics (1/2)
T3
W0
H0
H1
L0
L1
L2
T2
T4
T5
P0
P1
P2
P0
P1
P2P0(0, H0 + H1, -W0)P2(x, y, z)|P0->P2| =sqrt(x^2 + (y-H0-H1)^2 + (z-W0)^2) => ab = L1c = L0fTheta4=acos ((b^2+c^2-a^2)/(2*b*c))T4=180-fTheta4
The Leader of Intelligence Robot
49Inverse Kinematics (2/2)fT34=t3+t4fT5=t5
H0=190H1=200H=H0+H1W0=-246L0=625L1=482
depth=z-W0width=xt2=atan2(depth,width)
b = L1c = L0
Length2=x*x + pow(y-H,2) + pow(z-W0,2)Length=sqrt(Length2,2)
fTheta4=acos((b*b+c*c-Length2)/(2*b*c))t4=180-fTheta4/////////////
b = Lengthbb=Length2c = H1+H0aa=x*x + y*y + pow(z-W0,2)fTheta3_0=acos((bb+c*c-aa)/(2*b*c))
b = L0a = L1c = LengthfTheta3_1=acos((b*b+c*c-a*a)/(2*b*c))T3=180-(fTheta3_0 + fTheta3_1)
t5=fT5 + fT34 - t3 - t4
The Leader of Intelligence Robot
50Resulthttps://youtu.be/CWA8UQt0df8
The Leader of Intelligence Robot
Gate / Sway / COG https://youtu.be/zlp9k4NL1qo2 http://www.homerobot.co.kr/kaist_soc/motion_editor_for_walking.ziphttps://youtu.be/F8UgMhH9TXY
52Enjoy this Walking Motion
https://youtu.be/YIM-lIvMcaw
The Leader of Intelligence Robot
& http://www.homerobot.co.kr/kaist_soc/calibration.zip
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54 . A person longing for any dream for a long time resembles that dream at last. -Andre Georges Malraux.
The Leader of Intelligence Robot
Dance
https://youtu.be/DIboVjYI-Pg
Dance
https://youtu.be/EzZl6u_HEfQ
Dance
https://youtu.be/xfXejDcTBM4
Dance
https://youtu.be/4Az1QcfQdhM
Dance
https://youtu.be/w5jqQ5LecDM
Dance
https://youtu.be/bjH7cu9Tuxs
https://youtu.be/rYg4peMuhJE
