Welding/WeldingSpotPerformance
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fix: Исправил обработку начала со статусом "Oncoming"

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This commit is contained in:
Леонид Титов 2024-12-05 15:32:09 +03:00
parent 45de3c76fc
commit 68fc88a5d3
13 changed files with 11000 additions and 28603 deletions
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268
params/operator_params.json
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@ -1,19 +1,19 @@
{
"dist_open_start_1": [
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003
],
"dist_open_start_2": [
0.005,
@ -32,52 +32,52 @@
0.005
],
"dist_open_after_1": [
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001
],
"dist_open_after_2": [
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006,
0.006
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001
],
"dist_open_end_1": [
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005
],
"dist_open_end_2": [
0.05,
@ -96,20 +96,20 @@
0.05
],
"dist_close_end_1": [
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005,
0.005
0.003,
0.003,
0.003,
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0.003,
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0.003,
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0.003,
0.003,
0.003,
0.003,
0.003,
0.003
],
"dist_close_end_2": [
0.005,
@ -160,19 +160,19 @@
0.0
],
"time_robot_movement": [
0.2,
0.2,
0.2,
0.2,
0.2,
0.2,
0.2,
0.2,
0.2,
0.2,
0.2,
0.2,
0.2,
0.314,
0.331,
0.356,
0.428,
0.418,
0.454,
0.458,
0.54,
0.49,
0.47,
0.44,
0.425,
0.464,
0.2
],
"object_thickness": [
@ -225,140 +225,82 @@
],
"Tesla closing": [
0.216,
0.228,
0.252,
0.216,
0.228,
0.216,
0.228,
0.228,
0.228,
0.216,
0.228,
0.216,
0.216,
0.216
],
"Tesla squeeze": [
0.276,
0.288,
0.264,
0.264,
0.276,
0.276,
0.312,
0.276,
0.240,
0.240,
0.240,
0.240,
0.240,
0.240
0.24,
0.24,
0.24,
0.24,
0.24,
0.24
],
"Tesla welding": [
1.332,
1.644,
1.644,
1.428,
1.284,
1.308,
1.272,
1.380,
1.38,
1.416,
1.392,
1.380,
1.38,
1.404,
1.452,
1.452
],
"Tesla oncomming_relief": [
0.528,
0.528,
0.540,
0.54,
0.636,
0.504,
0.468,
0.492,
0.540,
0.54,
0.563,
0.588,
0.541,
0.564,
0.576,
0.507
],
"Tesla summary time": [
2.34 ,
2.652 ,
2.34,
2.652,
2.796,
2.4 ,
2.208 ,
2.34 ,
2.256 ,
2.544 ,
2.405 ,
2.405 ,
2.358 ,
2.37 ,
2.442 ,
2.4,
2.208,
2.34,
2.256,
2.544,
2.405,
2.405,
2.358,
2.37,
2.442,
1.908
]
}

77
params/system_params.json
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@ -1,22 +1,59 @@
{
"trace_storage_path": ["/home/leonid/WorkUM/DevUFC/diagramm/performance"],
"monitor_update_period": [100],
"a_max_1": [5.41],
"v_max_1": [0.278],
"a_max_2": [35.81],
"v_max_2": [0.7],
"mass_1": [270],
"mass_2": [1],
"k_hardness_1": [2148570],
"k_hardness_2": [0],
"torque_max_1": [20],
"torque_max_2": [0],
"transmission_ratio_1": [0.00125],
"transmission_ratio_2": [1],
"position_start_1": [0.08],
"position_start_2": [0.08],
"k_prop": [0.05],
"time_capture": [100000],
"UML_time_scaler": [1000]
"trace_storage_path": [
"/home/leonid/WorkUM/DevUFC/diagramm/performance"
],
"monitor_update_period": [
500
],
"a_max_1": [
7.96
],
"v_max_1": [
0.499
],
"a_max_2": [
35.81
],
"v_max_2": [
0.75
],
"mass_1": [
270.0
],
"mass_2": [
1.0
],
"k_hardness_1": [
2148570.0
],
"k_hardness_2": [
0.0
],
"torque_max_1": [
13.8
],
"torque_max_2": [
0.0
],
"transmission_ratio_1": [
0.00125
],
"transmission_ratio_2": [
1.0
],
"position_start_1": [
0.02
],
"position_start_2": [
0.073
],
"k_prop": [
0.075
],
"time_capture": [
100000.0
],
"UML_time_scaler": [
1000.0
]
}

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trace_samples/2024_11_08-19_30_49.csv
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trace_samples/2024_11_08-19_30_52.csv
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trace_samples/2024_11_08-19_30_59.csv
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trace_samples/2024_11_08-19_31_03.csv
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trace_samples/2024_12_05-14_44_11.csv Executable file
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trace_samples/old/2024_11_01-09_39_17.csv
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trace_samples/old/2024_11_01-09_39_17A.csv
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trace_samples/old/2024_11_01-09_39_17A00.csv
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trace_samples/old/2024_11_01-09_39_17B0.csv
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trace_samples/old/2024_11_01-09_39_17B00.csv
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trace_samples/old/fullF.csv
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