QT design simulation robot controller

introduction

this paper Jungle Simply implement a 6 Degree of freedom industrial robot simulation controller , Users can use the interface 6 The sliding bar of each axis controls the posture of the robot .

01

Platform and robot model

Platform——vs2008,Qt4.8.6,Coin3D3.1.3

Robot model——KUKA KR16 robot, Model files can be downloaded on the official website （https://www.kuka.com/）

02

UI Design

03

About Robot

This article chooses KUKA KR16 Robots, for example . Check the manual and schematic diagram of the robot to know the length of each rod of the robot , Parameters such as the motion range of each axis .

Robot size

The length and other dimensions of the robot are used to determine the size of the robot DH Parameters （ Related to robot kinematics ）：

Axis motion range

The range of motion of each axis needs to be limited in the program ：

UI The slider of the interface uses Qt Provided QSlider, So each QSlider The maximum and minimum values of are set as follows ：

  this->ui.horizontalSlider_Axis1->setRange(-185,185);
  this->ui.horizontalSlider_Axis2->setRange(-35,155);
  this->ui.horizontalSlider_Axis3->setRange(-130,154);
  this->ui.horizontalSlider_Axis4->setRange(-350,350);
  this->ui.horizontalSlider_Axis5->setRange(-130,130);
  this->ui.horizontalSlider_Axis6->setRange(-350,350);

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04

About implementation

The implementation process related to the interface is as follows ： Drag the mouse to slide the slider of any axis , Rotate the robot axis to the specified angle . What we use here is QSlider One of the signal：valueChanged(int), This signal is emitted every time you drag .

It is mainly implemented in the corresponding slot function ：

（1） Get this moment 6 The value of the slider , Let each axis of the robot rotate to its corresponding angle ;

（2） The angle number is displayed in real time in the text box on the left of each slider .

The code of this part is as follows ：

void Robot::initUiRobotAxis()
{
  this->ui.horizontalSlider_Axis1->setRange(-185,185);
  this->ui.horizontalSlider_Axis2->setRange(-35,155);
  this->ui.horizontalSlider_Axis3->setRange(-130,154);
  this->ui.horizontalSlider_Axis4->setRange(-350,350);
  this->ui.horizontalSlider_Axis5->setRange(-130,130);
  this->ui.horizontalSlider_Axis6->setRange(-350,350);
 
  connect(ui.horizontalSlider_Axis1,SIGNAL(valueChanged(int)),this,SLOT(setRobotPose()));
  connect(ui.horizontalSlider_Axis2,SIGNAL(valueChanged(int)),this,SLOT(setRobotPose()));
  connect(ui.horizontalSlider_Axis3,SIGNAL(valueChanged(int)),this,SLOT(setRobotPose()));
  connect(ui.horizontalSlider_Axis4,SIGNAL(valueChanged(int)),this,SLOT(setRobotPose()));
  connect(ui.horizontalSlider_Axis5,SIGNAL(valueChanged(int)),this,SLOT(setRobotPose()));
  connect(ui.horizontalSlider_Axis6,SIGNAL(valueChanged(int)),this,SLOT(setRobotPose()));
}

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Slot function setRobotPose The implementation is as follows ：

void Robot::setRobotPose()
{
  double input_Joint[6] = {0,0,0,0,0,0};
  input_Joint[0] = 0.01*ui.horizontalSlider_Axis1->value();
  input_Joint[1] = 0.01*ui.horizontalSlider_Axis2->value();
  input_Joint[2] = 0.01*ui.horizontalSlider_Axis3->value();
  input_Joint[3] = 0.01*ui.horizontalSlider_Axis4->value();
  input_Joint[4] = 0.01*ui.horizontalSlider_Axis5->value();
  input_Joint[5] = 0.01*ui.horizontalSlider_Axis6->value();
 
  ui.lineEdit_Axis1->setText(QString::number(input_Joint[0]));
  ui.lineEdit_Axis2->setText(QString::number(input_Joint[1]));
  ui.lineEdit_Axis3->setText(QString::number(input_Joint[2]));
  ui.lineEdit_Axis4->setText(QString::number(input_Joint[3]));
  ui.lineEdit_Axis5->setText(QString::number(input_Joint[4]));
  ui.lineEdit_Axis6->setText(QString::number(input_Joint[5]));
 
  this->setAxis(input_Joint);
}

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05

effect

http://mpvideo.qpic.cn/0af2an66ym4vycqoambaeaqkb4gvzuntan2gjkuha4ba2cipa4aa.f10002.mp4?