openjigware(v02.00.04)
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: : ,,,,,,,, Open jig ware2016. 11. 11
10 SW
. . . . . https://github.com/ojw5014/Released_DLLhttps://github.com/ojw5014/Exampleshttps://github.com/ojw5014/Toolhttps://github.com/ojw5014/OpenJigWare .http://cafe.naver.com/openrt/13751 . Challenge . . . SW [2016].
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SW [2016]5 17 http://cafe.naver.com/openrt/143565 23 & http://cafe.naver.com/openrt/14403() : 3(LG) : 1 : 4
56789101112 SW [2016]6 10 http://cafe.naver.com/openrt/145546 & http://cafe.naver.com/openrt/14647
7 6() - 1
56789101112 SW [2016]8 18 (3) http://cafe.naver.com/openrt/150119 4 -( ) http://cafe.naver.com/openrt/151189 2 http://cafe.naver.com/openrt/15109
56789101112 SW [2016]10 6 http://cafe.naver.com/openrt/15303 & & 10 201 10 24 ~ 25 () & ( ) http://cafe.naver.com/openrt/1540810 28 11() ( )-() :
56789101112 SW [2016]11 17 11 11(4 30)- (10 , 5 )11 22 - ->
56789101112 SW [2016]12 2SWDay- 12 -
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OpenJigWare? Contents
OpenJigWare?
I. OpenJigWare ?3D
, , CadTCP/IP , RS232(Kinematics)
,
I. OpenJigWare ? DLL (OpenJigWare.dll) . (DLL )Windows C# ( () .)
I. OpenJigWare ?
Socket/Serial (Simple):
/
2D , 3D Forward / Inverse ( )Matlab .
3D (OpenGL)
( 3)
(Shutdown, ) (Jpeg, Mjpeg) - 2 Class
InputBox/Messge
I. OpenJigWare ? Education ( ) Development ( )
- 3D , , , , Forward/Inverse - Forward Kinematics - D-H Notation 3D C# 5 3D ( ) , SW .- DLL - 255 . - Message History, Timer, Joystick, Graph, , File /, .3D .
I. OpenJigWare ?
< OpenJigWare >
. . . . (, , , ) ? Il.
Il.
SW
SW Kinematics / / SW
EducationModeling Tool
Using OpenJigware.dllDrawing(3D)Motor (Limit, ) Development
Visual Studio C# ( 5)
Modeling Tool (, , , ) Drawing(3D)Motor (Limit, ) TeacherStudentEngineerIl . OpenJigWare
Il. Making the suithttps://youtu.be/xnE9ErFz3wcLike Iron man System
II.
ROS
, GUI Open Jig
Jig .
3D
ROS ?
& Tool
Il. Microsoft Visual Studio 2010C# ( with Tao frame work :OpenGL )
https://youtu.be/l_QerQFRaZkhttps://youtu.be/GY4MUXbbW20
II.
Open Source
Source & DLL[ DLL - ]https://github.com/ojw5014/Released_DLL[ , (DLL ) ]https://github.com/ojw5014/Tool[ Source ]https://github.com/ojw5014/OpenJigWare[ RaspberryPi - OpenJigWare ]https://github.com/ojw5014/RaspberryPi
Manual[] www.youtube.com OpenJigWare [Example] Ex ) https://www.youtube.com/watch?v=tqgSO_PA_cU[ - ]https://github.com/ojw5014/Examples [ Document - & PPT ] https://github.com/ojw5014/Document[Online](http://cafe.naver.com/openrt) OpenJigWare
IIl.
Open Source
Message History
Convert .Parameter Loading . .3D 2D 3D .Forward / Inverse Kinematics
MessageBox History Message (StrToInt, StrToDouble, StrToBytes) Dst robot( ) , ( Rpm Time )
- Forward : 3D . - Inverse : Matlab , 255 . -> Python : Python .
Ill. 2D 3D
lll.
. 5 3D (, ) . OpenGL .Forward / Inverse Kinematics .
. Cad .ASE, OBJ, STL(text/binary) ., , Mirror , , Limit, (/ ), , ID, Flip (, , Mirror ), , / ., , , , .
Modeling toolMotion toollll.
, /
(*.ojw) https://www.youtube.com/watch?v=ol29At-4OWc
https://youtu.be/BEr_5CZqk-whttps://youtu.be/srUZRiMfd8klll.
Cad . Step 1 Cad (obj, ase, stl . ase .)
lll.
lll. Cad . Step 2 DispObject .# 17 Ase . .
lll. Cad . Step 3 Add .
1. Offset 100 45 2. Y 50 , Y 45 Offset 2. Trans / Rotation ( OpenGL 3D )
lll. Cad . Step 4 Add .( )
. Property grid. . Virtual Object( .)
lll. . .
()Manipulator
lll. ( )
. . Ctrl^C, Ctrl^V . Switch
Switch / / , , . : Switch
lll. (HexaPod )
. . Ctrl^C, Ctrl^V . Switch
Switch . :
: Switch
IIl.
IIl. . , Maya, 3D Max 3D ( obj, ase, stl[Binary or Text] .)Autodesk 123Design .() Drawing .
? [1/2]
IIl. !!!.3D , Thingiverse, Yeggi
? [2/2]
http://www.thingiverse.comhttp://www.yeggi.com/
IIl. Kinematics ?Kinematics
IIl. 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
IIl. KinematicsForward Kinematics(1/2) Translation
to Matrix
IIl. KinematicsForward 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
IIl. KinematicsD-H Notation Matrix
IIl. Kinematicshttp://cdn.intechweb.org/pdfs/379.pdf Page 14 Example 2 .
Forward Kinematics
2 Dof 3 . .
IIl. Kinematics
Open-Jig Kinematics
IIl. KinematicsForward-Kinematics View DH-Skeleon DH .( .) DH-Skeleton 3D .https://youtu.be/iQyH0RnnDDoOpenJigWare DH
YXZ
IIl. Kinematics
. L1 30, L2 50 .OpenJigWare DH
YXZ1 => Axis 12 => Axis 2 .[ ]Get : X, Y, Z Set : (X, Y, Z)
D-H .
IIl. Kinematics DLL 3D .( 3D -thingiverse, yeggi -) , detail .
- DLL .: . - DLL 3D - DLL .
IIl. kinematicsD-H Notation 2 D-H 3D 3D D-H Notation . 0Kinematics
IIl. D-H Notation https://youtu.be/7lqSJNfkxe8
IIl. Forward 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)
https://youtu.be/detjVR1dG08
IV. . . (, / , , )
. ~ .Visual Studio C# . .
IV. 3D STL Gcode slice 3D ...
Myo, Leap Motion, Arduino ...
(), , Unity ... Herculex2 Class .
... Python .