Matlab联合仿真环境搭建

复制api文件到新建文件夹

路径：

C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu\programming\remoteApiBindings\matlab\matlab

matlab找到对应目录

v-rep配置

添加内嵌脚本

选择对象

双击出现代码框,并添加语句，启动远程控制功能

代码测试

1.在v-rep中点击运行

2.MATLAB运行，simpleTest

版本不匹配

测试过程中出现“Note: always make sure you use the corresponding remoteApi library

(i.e. 32bit Matlab will not work with 64bit remoteApi, and vice-versa)”

需要将下路径中的remoteApi.dll文件复制到MATLAB代码文件夹中

C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu\programming\remoteApiBindings\lib\lib\Windows

问题解决

控制代码测试

可以通过手册查找函数用法

逆运动学解算

杆件长度参数确定

同时选中两个坐标系，观察坐标系间距离结课获取相关参数。

此处应当重点注意，由于选择两坐标系所得距离并非calf_joint与地面间距离，所以不可直接使用，否则腿部无法伸直。

在SolidWorks中打开calf.stl,测量可得L3实际长度为0.22m，给响应坐标腿顺利伸直。

所以L1=0.0851,L2=0.2,L3=0.22

MATLAB代码

逆运动学解算

function [theta_1,theta_2,theta_3] = xyz(x,y,z)%与课程对应y=-y;z=-z;%L1=0.0851;L2=0.2;L3=0.22; %腿长不是0.2dyz=sqrt(y.^2+z.^2);lyz=sqrt(dyz.^2-L1.^2);theta_1_yz=-atan(y/z);theta_1_h_offset=-atan(L1./lyz);theta_1=theta_1_yz-theta_1_h_offset;%lxzp=sqrt(lyz.^2+x.^2);n=(lxzp.^2-L3.^2-L2.^2)/(2*L2);theta_3=-acos(n/L3);%theta_2_xzp=-atan(x/lyz);theta_2_off=acos((L2+n)/lxzp);theta_2=theta_2_xzp+theta_2_off;%输出角度为弧度end

联合仿真.m

%通讯初始化 从simpleTest中copy过来clearclcdisp('Program started');vrep=remApi('remoteApi'); vrep.simxFinish(-1); clientID=vrep.simxStart('127.0.0.1',19999,true,true,5000,5); %如果返回值为-1 则代表通讯不成功,返回值为0代表通讯成功disp(clientID);%%if (clientID>-1)disp('Connected to remote API server');vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot); %开启仿真%声明节点，关节初始化，12个关节[rec ,RR_calf_joint]=vrep.simxGetObjectHandle (clientID,'RR_calf_joint',vrep.simx_opmode_blocking);[rec ,FR_calf_joint]=vrep.simxGetObjectHandle (clientID,'FR_calf_joint',vrep.simx_opmode_blocking);[rec ,RR_thigh_joint]=vrep.simxGetObjectHandle (clientID,'RR_thigh_joint',vrep.simx_opmode_blocking);[rec ,FR_thigh_joint]=vrep.simxGetObjectHandle (clientID,'FR_thigh_joint',vrep.simx_opmode_blocking);[rec ,RR_hip_joint]=vrep.simxGetObjectHandle (clientID,'RR_hip_joint',vrep.simx_opmode_blocking);[rec ,FR_hip_joint]=vrep.simxGetObjectHandle (clientID,'FR_hip_joint',vrep.simx_opmode_blocking);[rec ,RL_calf_joint]=vrep.simxGetObjectHandle (clientID,'RL_calf_joint',vrep.simx_opmode_blocking);[rec ,FL_calf_joint]=vrep.simxGetObjectHandle (clientID,'FL_calf_joint',vrep.simx_opmode_blocking);[rec ,RL_thigh_joint]=vrep.simxGetObjectHandle (clientID,'RL_thigh_joint',vrep.simx_opmode_blocking);[rec ,FL_thigh_joint]=vrep.simxGetObjectHandle (clientID,'FL_thigh_joint',vrep.simx_opmode_blocking);[rec ,RL_hip_joint]=vrep.simxGetObjectHandle (clientID,'RL_hip_joint',vrep.simx_opmode_blocking);[rec ,FL_hip_joint]=vrep.simxGetObjectHandle (clientID,'FL_hip_joint',vrep.simx_opmode_blocking);%12个电机力矩参数RR_hip_joint_force=500;RR_thigh_joint_force=500; RR_calf_joint_force=500; %第一条腿FR_hip_joint_force=500;FR_thigh_joint_force=500; FR_calf_joint_force=500; %第二条腿RL_hip_joint_force=500;RL_thigh_joint_force=500; RL_calf_joint_force=500; %第三条腿 FL_hip_joint_force=500;FL_thigh_joint_force=500; FL_calf_joint_force=500; %第四条腿%12个电机角度参数 弧度值 RL_hip_joint_pos=0*pi/180; RL_thigh_joint_pos=0*pi/180; RL_calf_joint_pos=0*pi/180; FL_hip_joint_pos=0*pi/180; FL_thigh_joint_pos=0*pi/180; FL_calf_joint_pos=0*pi/180; RR_hip_joint_pos=0*pi/180; RR_thigh_joint_pos=0*pi/180; RR_calf_joint_pos=0*pi/180; FR_hip_joint_pos=0*pi/180; FR_thigh_joint_pos=0*pi/180; FR_calf_joint_pos=0*pi/180; % RL_hip_joint_pos=30*pi/180; RL_thigh_joint_pos=30*pi/180; RL_calf_joint_pos=70*pi/180; % FL_hip_joint_pos=30*pi/180; FL_thigh_joint_pos=30*pi/180; FL_calf_joint_pos=70*pi/180; % RR_hip_joint_pos=30*pi/180; RR_thigh_joint_pos=30*pi/180; RR_calf_joint_pos=70*pi/180; % FR_hip_joint_pos=30*pi/180; FR_thigh_joint_pos=30*pi/180; FR_calf_joint_pos=70*pi/180; %设置电机力矩rec=vrep.simxSetJointForce(clientID,RR_calf_joint, RR_calf_joint_force,vrep.simx_opmode_blocking);rec=vrep.simxSetJointForce(clientID,FR_calf_joint, FR_calf_joint_force,vrep.simx_opmode_blocking);rec=vrep.simxSetJointForce(clientID,RR_thigh_joint, RR_thigh_joint_force,vrep.simx_opmode_blocking);rec=vrep.simxSetJointForce(clientID,FR_thigh_joint, FR_thigh_joint_force,vrep.simx_opmode_blocking);rec=vrep.simxSetJointForce(clientID,RR_hip_joint, RR_hip_joint_force,vrep.simx_opmode_blocking);rec=vrep.simxSetJointForce(clientID,FR_hip_joint, FR_hip_joint_force,vrep.simx_opmode_blocking);rec=vrep.simxSetJointForce(clientID,RL_calf_joint, RL_calf_joint_force,vrep.simx_opmode_blocking);rec=vrep.simxSetJointForce(clientID,FL_calf_joint, FL_calf_joint_force,vrep.simx_opmode_blocking);rec=vrep.simxSetJointForce(clientID,RL_thigh_joint, RL_thigh_joint_force,vrep.simx_opmode_blocking);rec=vrep.simxSetJointForce(clientID,FL_thigh_joint, FL_thigh_joint_force,vrep.simx_opmode_blocking);rec=vrep.simxSetJointForce(clientID,RL_hip_joint, RL_hip_joint_force,vrep.simx_opmode_blocking);rec=vrep.simxSetJointForce(clientID,FL_hip_joint, FL_hip_joint_force,vrep.simx_opmode_blocking);% row=0; pitch=0; yaw=0;% pos_x=0; pos_y=0.2; pos_z=-0.2;pause(1); %延时1st=clock; %获取matlab系统当前时间 startTime=t(5)*60+t(6); %当前时间 [年 月 日 时 分 秒]currentTime=0; %当前时间gait_state=2; %步态标志位% [lb_x,lb_y,lb_z,rb_x,rb_y,rb_z,rf_x,rf_y,rf_z,lf_x,lf_y,lf_z] = pose_control(row,pitch,yaw,pos_x,pos_y,pos_z);% [lb_rot_1_pos,lb_rot_2_pos,lb_rot_3_pos]=xyz(lb_x,lb_y,lb_z);% [lf_rot_1_pos,lf_rot_2_pos,lf_rot_3_pos]=xyz(lf_x,lf_y,lf_z);% [rb_rot_1_pos,rb_rot_2_pos,rb_rot_3_pos]=xyz(rb_x,rb_y,rb_z);% [rf_rot_1_pos,rf_rot_2_pos,rf_rot_3_pos]=xyz(rf_x,rf_y,rf_z);% % RL_calf_joint_pos=-52.5*pi/180-RL_calf_joint_pos;% FL_calf_joint_pos=-52.5*pi/180-RL_calf_joint_pos;% RR_calf_joint_pos=-52.5*pi/180-RL_calf_joint_pos;% FR_calf_joint_pos=-52.5*pi/180-RL_calf_joint_pos;while(1)%x正前负后 y外负内正 z=-0.42伸直 [FL_hip_joint_pos,FL_thigh_joint_pos,FL_calf_joint_pos]=xyz(0,-0.0851,-0.35);[RL_hip_joint_pos,RL_thigh_joint_pos,RL_calf_joint_pos]=xyz(0,-0.0851,-0.35); %x正前负后 y外负内正 z=-0.42伸直 [FR_hip_joint_pos,FR_thigh_joint_pos,FR_calf_joint_pos]=xyz(0,-0.0851,-0.35);[RR_hip_joint_pos,RR_thigh_joint_pos,RR_calf_joint_pos]=xyz(0,-0.0851,-0.35); %x正前负后 y外正内负 z=-0.42伸直 %电机控制函数%由于模型导入原因 calf关节初始角度-52.5且只有输入角度小于-52.5才有效rec=vrep.simxSetJointTargetPosition(clientID,FL_hip_joint,-FL_hip_joint_pos,vrep.simx_opmode_oneshot);rec=vrep.simxSetJointTargetPosition(clientID,FL_thigh_joint,FL_thigh_joint_pos,vrep.simx_opmode_oneshot);rec=vrep.simxSetJointTargetPosition(clientID,FL_calf_joint,FL_calf_joint_pos-52.5*pi/180,vrep.simx_opmode_oneshot); rec=vrep.simxSetJointTargetPosition(clientID,RL_hip_joint,-RL_hip_joint_pos,vrep.simx_opmode_oneshot);rec=vrep.simxSetJointTargetPosition(clientID,RL_thigh_joint,RL_thigh_joint_pos,vrep.simx_opmode_oneshot);rec=vrep.simxSetJointTargetPosition(clientID,RL_calf_joint,RL_calf_joint_pos-52.5*pi/180,vrep.simx_opmode_oneshot);rec=vrep.simxSetJointTargetPosition(clientID,FR_hip_joint,FR_hip_joint_pos,vrep.simx_opmode_oneshot);rec=vrep.simxSetJointTargetPosition(clientID,FR_thigh_joint,FR_thigh_joint_pos,vrep.simx_opmode_oneshot);rec=vrep.simxSetJointTargetPosition(clientID,FR_calf_joint,FR_calf_joint_pos-52.5*pi/180,vrep.simx_opmode_oneshot);rec=vrep.simxSetJointTargetPosition(clientID,RR_hip_joint,RR_hip_joint_pos,vrep.simx_opmode_oneshot);rec=vrep.simxSetJointTargetPosition(clientID,RR_thigh_joint,RR_thigh_joint_pos,vrep.simx_opmode_oneshot);rec=vrep.simxSetJointTargetPosition(clientID,RR_calf_joint,RR_calf_joint_pos-52.5*pi/180,vrep.simx_opmode_oneshot);endvrep.simxStopSimulation(clientID,vrep.simx_opmode_blocking); %仿真停止vrep.simxFinish(clientID);elsedisp('Failed connecting to remote API server');endvrep.delete(); disp('Program ended');

四腿完全伸直

[FL_hip_joint_pos,FL_thigh_joint_pos,FL_calf_joint_pos]=xyz(0,-0.0851,-0.42);[RL_hip_joint_pos,RL_thigh_joint_pos,RL_calf_joint_pos]=xyz(0,-0.0851,-0.42); %x正前负后 y外负内正 z=-0.42伸直 [FR_hip_joint_pos,FR_thigh_joint_pos,FR_calf_joint_pos]=xyz(0,-0.0851,-0.42);[RR_hip_joint_pos,RR_thigh_joint_pos,RR_calf_joint_pos]=xyz(0,-0.0851,-0.42); %x正前负后 y外正内负 z=-0.42伸直

四个足端相同xy坐标不同z坐标得到如下测试结果

[FL_hip_joint_pos,FL_thigh_joint_pos,FL_calf_joint_pos]=xyz(0,-0.0851,-0.42);[RL_hip_joint_pos,RL_thigh_joint_pos,RL_calf_joint_pos]=xyz(0,-0.0851,-0.35); %x正前负后 y外负内正 z=-0.42伸直 [FR_hip_joint_pos,FR_thigh_joint_pos,FR_calf_joint_pos]=xyz(0,-0.0851,-0.3);[RR_hip_joint_pos,RR_thigh_joint_pos,RR_calf_joint_pos]=xyz(0,-0.0851,-0.25); %x正前负后 y外正内负 z=-0.42伸直

四个足端相同yz坐标不同x坐标得到如下测试结果

[FL_hip_joint_pos,FL_thigh_joint_pos,FL_calf_joint_pos]=xyz(0.1,-0.0851,-0.3);[RL_hip_joint_pos,RL_thigh_joint_pos,RL_calf_joint_pos]=xyz(0,-0.0851,-0.3); %x正前负后 y外负内正 z=-0.42伸直 [FR_hip_joint_pos,FR_thigh_joint_pos,FR_calf_joint_pos]=xyz(-0.1,-0.0851,-0.3);[RR_hip_joint_pos,RR_thigh_joint_pos,RR_calf_joint_pos]=xyz(-0.2,-0.0851,-0.3); %x正前负后 y外正内负 z=-0.42伸直

四个足端相同xz坐标不同y坐标得到如下测试结果

[FL_hip_joint_pos,FL_thigh_joint_pos,FL_calf_joint_pos]=xyz(0,-0.12,-0.3);[RL_hip_joint_pos,RL_thigh_joint_pos,RL_calf_joint_pos]=xyz(0,-0.0851,-0.3); %x正前负后 y外负内正 z=-0.42伸直 [FR_hip_joint_pos,FR_thigh_joint_pos,FR_calf_joint_pos]=xyz(0,-0.04,-0.3);[RR_hip_joint_pos,RR_thigh_joint_pos,RR_calf_joint_pos]=xyz(0,0,-0.3); %x正前负后 y外正内负 z=-0.42伸直