6轴工业机械臂运动学算法.rar

上传者: advance_viking | 上传时间: 2021-05-25 17:26:35 | 文件大小: 147KB | 文件类型: RAR
先准备一根并品线,若干LED灯 按这个文件先安装opengl和opencv 然后就可以打开第一个实例,简单的使用并口发信号给led灯,控制亮与灭。第一步很关键。 认识并口的信号脚2-9脚。 2-9脚是数据0-7共8个。 1、14、16、17脚选通脚, 0x378,//2-9脚端口地址 0x37A;//1、14、16、17端口地址 输出总共12只脚,所以最高6轴联动。 输入有5只脚,可以接行程开关,原点开关,报警信号等 例程1学会这些就够了。 再学例程2,要用到计算机内部的高精度定时器,步进电机或伺服电机对脉冲要求较高,普能定时器精度不够,所以用到 LARGE_INTEGER nFreq;//计算机频率 LARGE_INTEGER nBeginTime;//开始时间 LARGE_INTEGER nEndTime;//结束时间 自己做win界面等。 再接下就是opengl和opengcv。这些也可不学,看自己用不用的到。 可以看下这几个实例程序。 这些程序的后处理可以通过hypermill(pof)sp10软件来处理,详细操作可以到youku搜"hypermill(pof)sp10" 机械手是自定义的".c"格式,

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