mirror of
https://github.com/m1ngsama/robot_arm.git
synced 2026-03-25 19:53:49 +00:00
fix(arm_main): replace bare except with SerialException, use deque for servo_buffer
- Replace `except:` with `except serial.SerialException as e` to prevent silently swallowing KeyboardInterrupt and other system exceptions (#1) - Replace list + pop(0) with collections.deque(maxlen=N) for O(1) buffer management; removes manual length check in _send_and_audit (#6) - Rebuild deque in set_damping_params when buffer_size changes - Translate all Chinese log messages and comments to English (#5) - Minor: sort imports (stdlib before third-party)
This commit is contained in:
parent
a7209c4f78
commit
f1df158d56
1 changed files with 62 additions and 73 deletions
135
arm_main.py
135
arm_main.py
|
|
@ -1,37 +1,40 @@
|
|||
import numpy as np
|
||||
from scipy.optimize import minimize
|
||||
import serial
|
||||
import time
|
||||
from collections import deque
|
||||
|
||||
import math
|
||||
import time
|
||||
|
||||
import matplotlib.pyplot as plt
|
||||
import numpy as np
|
||||
import serial
|
||||
from scipy.optimize import minimize
|
||||
|
||||
class RobotArmUltimate:
|
||||
def __init__(self, port='COM3', baud=115200):
|
||||
# --- 1. 物理参数 ---
|
||||
# --- 1. Physical parameters (mm) ---
|
||||
self.L1, self.L2, self.L3, self.L4 = 70.0, 75.0, 50.0, 130.0
|
||||
self.current_servos_logic = np.array([90.0, 90.0, 90.0, 90.0])
|
||||
self.last_sent_servos = np.array([0.0, 0.0, 0.0, 0.0]) # 记录上次发送的值
|
||||
self.last_sent_servos = np.array([0.0, 0.0, 0.0, 0.0])
|
||||
self.path_history = []
|
||||
|
||||
# --- 【新增】倾斜修正参数 ---
|
||||
# 如果水平移动时往下掉，增加 OFFSET_Y (例如 2.0)
|
||||
self.OFFSET_Y = 0.0
|
||||
self.OFFSET_Z = 0.0
|
||||
|
||||
# --- 2. 减震参数 ---
|
||||
self.servo_buffer = [] # 指令缓冲用于平滑滤波
|
||||
self.buffer_size = 3 # 移动平均窗口大小
|
||||
self.max_servo_speed = 30.0 # 舵机最大速度
|
||||
self.damping_factor = 0.7 # 阻尼因子
|
||||
# --- 2. Tilt correction offsets ---
|
||||
# Increase OFFSET_Y if end-effector droops during horizontal moves
|
||||
self.OFFSET_Y = 0.0
|
||||
self.OFFSET_Z = 0.0
|
||||
|
||||
# --- 3. Damping parameters ---
|
||||
self.buffer_size = 3
|
||||
self.servo_buffer = deque(maxlen=self.buffer_size)
|
||||
self.max_servo_speed = 30.0 # max servo speed (deg/frame)
|
||||
self.damping_factor = 0.7
|
||||
|
||||
try:
|
||||
self.ser = serial.Serial(port, baud, timeout=1)
|
||||
time.sleep(4)
|
||||
time.sleep(4)
|
||||
self.ser.flushInput()
|
||||
print(">>> [系统就绪] 已加载 S-Curve 平滑减震算法 + 倾斜修正。")
|
||||
print("[System Ready] S-Curve smoothing + tilt correction loaded.")
|
||||
self.gripper_control(70)
|
||||
except:
|
||||
print(">>> [警告] 串口未连接，进入仿真。")
|
||||
except serial.SerialException as e:
|
||||
print(f"[Warning] Serial connection failed ({e}), entering simulation mode.")
|
||||
self.ser = None
|
||||
|
||||
def dh_matrix(self, theta_deg, d, a, alpha_deg):
|
||||
|
|
@ -63,61 +66,57 @@ class RobotArmUltimate:
|
|||
return res.x
|
||||
|
||||
def _send_and_audit(self, s, target_xyz):
|
||||
"""带有多层减震的发送函数"""
|
||||
# --- 【修改点】应用倾斜修正 ---
|
||||
# 在进入滤波前，先加上固定的偏移量
|
||||
"""Send servo command through multi-layer damping pipeline."""
|
||||
# Apply tilt correction before filtering
|
||||
s_corrected = s.copy()
|
||||
s_corrected[1] += self.OFFSET_Y
|
||||
s_corrected[2] += self.OFFSET_Z
|
||||
|
||||
s_logic = np.array([np.clip(x, 0, 180) for x in s_corrected])
|
||||
|
||||
# --- 层1: 移动平均滤波器 ---
|
||||
|
||||
# Layer 1: moving average filter (deque auto-discards oldest)
|
||||
self.servo_buffer.append(s_logic)
|
||||
if len(self.servo_buffer) > self.buffer_size:
|
||||
self.servo_buffer.pop(0)
|
||||
s_smoothed = np.mean(self.servo_buffer, axis=0)
|
||||
|
||||
# --- 层2: 速度限制 ---
|
||||
|
||||
# Layer 2: speed limit
|
||||
delta = s_smoothed - self.current_servos_logic
|
||||
delta_norm = np.linalg.norm(delta)
|
||||
|
||||
if delta_norm > self.max_servo_speed:
|
||||
s_smoothed = self.current_servos_logic + delta * (self.max_servo_speed / delta_norm)
|
||||
|
||||
# --- 层3: 阻尼因子 ---
|
||||
|
||||
# Layer 3: damping factor
|
||||
s_damped = self.current_servos_logic * (1 - self.damping_factor) + s_smoothed * self.damping_factor
|
||||
|
||||
|
||||
s_logic_final = np.array([int(round(np.clip(x, 0, 180))) for x in s_damped])
|
||||
s_hardware = np.array([s_logic_final[0], s_logic_final[1], 180 - s_logic_final[2], 180 - s_logic_final[3]])
|
||||
|
||||
# --- 层4: 死区过滤 ---
|
||||
|
||||
# Layer 4: dead-zone filter - skip if total delta < 1 degree
|
||||
if np.sum(np.abs(s_hardware - self.last_sent_servos)) < 1.0:
|
||||
return
|
||||
return
|
||||
|
||||
if self.ser:
|
||||
cmd = f"Servo_ArmX{s_hardware[0]}\nServo_ArmY{s_hardware[1]}\n" \
|
||||
f"Servo_ArmZ{s_hardware[2]}\nServo_ArmB{s_hardware[3]}\n"
|
||||
cmd = (f"Servo_ArmX{s_hardware[0]}\nServo_ArmY{s_hardware[1]}\n"
|
||||
f"Servo_ArmZ{s_hardware[2]}\nServo_ArmB{s_hardware[3]}\n")
|
||||
self.ser.write(cmd.encode())
|
||||
self.last_sent_servos = s_hardware.astype(int)
|
||||
|
||||
self.current_servos_logic = s_logic_final # 这里的逻辑值已经是修正后的，保证迭代平滑
|
||||
|
||||
self.current_servos_logic = s_logic_final
|
||||
_, _, pts = self.forward_kinematics(*s_logic_final)
|
||||
self.path_history.append(pts)
|
||||
|
||||
def move_line(self, start_xyz, end_xyz, p_start=-90, p_end=-90, duration=3.0):
|
||||
"""核心改进：多层S-Curve轨迹规划 + 动态自适应FPS"""
|
||||
"""S-Curve trajectory planning with adaptive FPS based on distance."""
|
||||
distance = np.linalg.norm(end_xyz - start_xyz)
|
||||
|
||||
|
||||
if distance < 50:
|
||||
fps = 20
|
||||
fps = 20
|
||||
elif distance < 150:
|
||||
fps = 40
|
||||
fps = 40
|
||||
else:
|
||||
fps = 60
|
||||
|
||||
steps = max(int(duration * fps), 10)
|
||||
print(f"规划平滑路径: {start_xyz} -> {end_xyz}, 距离={distance:.1f}mm, FPS={fps}")
|
||||
fps = 60
|
||||
|
||||
steps = max(int(duration * fps), 10)
|
||||
print(f"[Path] {start_xyz} -> {end_xyz}, dist={distance:.1f}mm, fps={fps}")
|
||||
|
||||
for i in range(steps + 1):
|
||||
t = i / steps
|
||||
|
|
@ -137,60 +136,50 @@ class RobotArmUltimate:
|
|||
|
||||
def set_damping_params(self, buffer_size=3, max_speed=30.0, damping_factor=0.7):
|
||||
self.buffer_size = buffer_size
|
||||
self.servo_buffer = deque(maxlen=buffer_size)
|
||||
self.max_servo_speed = max_speed
|
||||
self.damping_factor = damping_factor
|
||||
print(f"✓ 减震参数已更新: 滤波窗口={buffer_size}, 限速={max_speed}度/帧, 阻尼={damping_factor}")
|
||||
print(f"[OK] Damping params updated: window={buffer_size}, speed_limit={max_speed}deg/frame, damping={damping_factor}")
|
||||
|
||||
# --- 【新增】设置修正系数的接口 ---
|
||||
def set_correction(self, offset_y=0.0, offset_z=0.0):
|
||||
self.OFFSET_Y = offset_y
|
||||
self.OFFSET_Z = offset_z
|
||||
print(f"✓ 倾斜修正已更新: Y_OFFSET={offset_y}, Z_OFFSET={offset_z}")
|
||||
print(f"[OK] Tilt correction updated: Y_OFFSET={offset_y}, Z_OFFSET={offset_z}")
|
||||
|
||||
def close(self):
|
||||
if self.ser: self.ser.close()
|
||||
|
||||
if __name__ == "__main__":
|
||||
arm = RobotArmUltimate(port='COM3')
|
||||
|
||||
# 1. 设置减震参数
|
||||
arm.set_damping_params(buffer_size=3, max_speed=30.0, damping_factor=0.7)
|
||||
|
||||
# 2. 【核心调试】在这里设置修正值
|
||||
# 如果正向移动时 Z 往下掉，说明大臂（Y）低了，给它加一点
|
||||
arm.set_correction(offset_y=-10.0, offset_z=0.0)
|
||||
|
||||
p_standby = np.array([110, 100, 20])
|
||||
p_pick1 = np.array([210, 110, 20])
|
||||
p_pick2 = np.array([210, -110, 20])
|
||||
p_drop = np.array([110, -100, 20])
|
||||
arm.set_damping_params(buffer_size=3, max_speed=30.0, damping_factor=0.7)
|
||||
# Tune offset_y if end-effector droops during horizontal moves
|
||||
arm.set_correction(offset_y=-10.0, offset_z=0.0)
|
||||
|
||||
p_standby = np.array([110, 100, 20])
|
||||
p_pick1 = np.array([210, 110, 20])
|
||||
p_pick2 = np.array([210, -110, 20])
|
||||
p_drop = np.array([110, -100, 20])
|
||||
|
||||
try:
|
||||
print("\n=== 开始平滑动作序列 (带倾斜修正) ===")
|
||||
|
||||
# 1. 初始定位
|
||||
# s_init = arm.inverse_kinematics(p_standby, target_pitch=-90)
|
||||
# arm._send_and_audit(s_init, p_standby)
|
||||
# time.sleep(2)
|
||||
print("\n=== Smooth motion sequence (with tilt correction) ===")
|
||||
|
||||
# 2. 减震下降
|
||||
arm.move_line(p_standby, p_pick1, p_start=-60, p_end=-90, duration=1.0)
|
||||
arm.gripper_control(120)
|
||||
|
||||
# 3. 减震平移
|
||||
arm.move_line(p_pick1, p_pick2, p_start=-90, p_end=-30, duration=1.0)
|
||||
time.sleep(1)
|
||||
arm.move_line(p_pick2, p_drop, p_start=-30, p_end=-90, duration=1.0)
|
||||
arm.gripper_control(70)
|
||||
time.sleep(1)
|
||||
|
||||
# 4. 减震返回待命
|
||||
arm.move_line(p_drop, p_standby, p_start=-90, p_end=-60, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("\n>>> 任务结束。")
|
||||
print("\n>>> Done.")
|
||||
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
finally:
|
||||
if arm.ser: arm.ser.close()
|
||||
if arm.ser:
|
||||
arm.ser.close()
|
||||
Loading…
Reference in a new issue