能写字、跳舞的六轴机械臂.
比邻星六轴机械臂
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.
What things you need to install the software and how to install them.
Give examples
| 关节 | alpha | a | d | theta |
|---|---|---|---|---|
| 1 | 0 | 0 | 153.50 | 0 |
| 2 | -pi / 2 | 24 | 0 | -pi / 2 |
| 3 | 0 | 160.72 | 0 | 0 |
| 4 | -pi / 2 | 0 | 223 | 0 |
| 5 | pi / 2 | 0 | 0 | pi/2 |
| 6 | pi / 2 | 0 | -108.79 | 0 |
| 关节 | alpha | a | d | theta |
|---|---|---|---|---|
| 1 | -pi/2 | 24 | 153.50 | 0 |
| 2 | 0 | 160.72 | 0 | -pi / 2 |
| 3 | -pi/2 | 0 | 0 | 0 |
| 4 | pi / 2 | 0 | 223 | 0 |
| 5 | pi / 2 | 0 | 0 | pi/2 |
| 6 | 0 | 0 | -108.79 | 0 |
先将屏幕面向操作者，将机械臂回零，再确定电机的角度正负值，以及对应的控制方向
需要与正逆解模型的角度方向一致
| 电机编号 | 方向 | 负值（度） | 正值(度) | 方向 | 备注 |
|---|---|---|---|---|---|
| 1 | 顺时针 | -136 | +136 | 逆时针 | 俯视 |
| 2 | 顺时针 | -85 | +97 | 逆时针 | 左视 |
| 3 | 顺时针 | -91 | +47 | 逆时针 | 左视 |
| 4 | 逆时针 | -141 | +182 | 顺时针 | 正视 |
| 5 | 顺时针 | -220 | +30 | 逆时针 | 左视 |
| 6 | 顺时针 | -360 | +360 | 逆时针 | 俯视 |
A step by step series of examples that tell you how to get a development env running.
Say what the step will be
pip install -r requirements.txt -i https://pypi.tuna.tsinghua.edu.cn/simple
And repeat
until finished
End with an example of getting some data out of the system or using it for a little demo.
Explain how to run the automated tests for this system.
Explain what these tests test and why
Give an example
Explain what these tests test and why
Give an example
Add notes about how to use the system.
Add additional notes about how to deploy this on a live system.
- @kylelobo - Idea & Initial work
See also the list of contributors who participated in this project.
- Hat tip to anyone whose code was used
- Inspiration
- References