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Merge remote-tracking branch 'refs/remotes/origin/feat-movementalgo-update' into feature-positioning

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This commit is contained in:
Леонид Титов 2025-01-24 15:46:17 +03:00
commit a8ebc0a97b
4 changed files with 89 additions and 59 deletions
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16
params/operator_params.json
View File

@ -34,7 +34,7 @@
"distance_s_1": [
0.001,
0.001,
0.001,
0.003,
0.001,
0.001,
0.001,
@ -64,7 +64,7 @@
0.001
],
"distance_l_1": [
0.005,
0.0105,
0.005,
0.005,
0.005,
@ -129,7 +129,7 @@
],
"object_position": [
0.02743,
0.0249,
0.016,
0.024,
0.02425,
0.0225,
@ -176,7 +176,7 @@
0.0
],
"time_robot_movement": [
0.314,
0.5,
0.331,
0.356,
0.428,
@ -189,14 +189,14 @@
0.44,
0.425,
0.464,
0.5
0.2
],
"object_thickness": [
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0085,
0.0045,
0.0045,
0.0045,
@ -213,9 +213,9 @@
5000.0,
5000.0,
5000.0,
7000.0,
5000.0,
5000.0,
5000.0,
2000.0,
5000.0,
5000.0,
5000.0,

10
params/system_params.json
View File

@ -6,16 +6,16 @@
1000.0
],
"a_max_1": [
7.96
0.7
],
"v_max_1": [
0.499
10.0
],
"a_max_2": [
35.81
100.0
],
"v_max_2": [
0.75
0.2
],
"mass_1": [
270.0
@ -48,7 +48,7 @@
0.0
],
"k_prop": [
0.005
0.0075
],
"time_capture": [
1000.0

9
src/OptAlgorithm/OptAlgorithm.py
View File

@ -16,6 +16,12 @@ class OptAlgorithm(AutoConfigClass):
calc = OptTimeCalculator(operator_config, system_config)
if self.distance_l_1 < 0:
raise Exception("Ошибка - заготовка вышла за пределы маскимального раскрытия электрода FE")
if self.distance_l_2 < 0:
raise Exception("Ошибка - заготовка вышла за пределы маскимального раскрытия электрода ME")
self.Ts = calc.T(self.distance_h_start_1,
self.distance_h_start_2,
self.distance_s_1,
@ -221,7 +227,8 @@ class OptAlgorithm(AutoConfigClass):
def FMovement(self, t: float):
x1 = self.X1Movement(t)
x2 = self.X2Movement(t)
F = self.k_hardness_1 * max(0, (x1 - self.x1_contact))
#its not true, but theres no need to track collisions at this point
F = 0#self.k_hardness_1 * max(0, (x1 - self.x1_contact))
return F
def X1Movement(self, t: float):

113
src/OptAlgorithm/OptTimeCalculator.py
View File

@ -1,4 +1,5 @@
from numpy import sqrt, arcsin, arccos, cos, sin
import numpy as np
from numpy import sqrt, arcsin, arccos, cos, sin, array
from OptAlgorithm.AutoConfigClass import AutoConfigClass
from OptAlgorithm.ConstantCalculator import ConstantCalculator
@ -21,8 +22,8 @@ class OptTimeCalculator(AutoConfigClass):
v0q = min(sqrt(2 * self.a_max_1 * h1), self.v_max_1)
v0 = min(v0q, sqrt(1 / (self.k_hardness_1 * self.mass_1)) * self.Ftogrow)
t1 = v0 / self.a_max_1
hleft = (h1 - (self.a_max_1 * t1 * t1 / 2))
t3 = min((v0q - v0)/ self.a_max_1, sqrt(self.a_max_1 * hleft))
hleft = max(0, h1 - (self.a_max_1 * t1 * t1 / 2))
t3 = min(max(0, v0q - v0)/ self.a_max_1, sqrt(self.a_max_1 * hleft))
v1 = (t1 + t3) * self.a_max_1
hleft2 = h1 - (self.a_max_1 * (t1+t3) * (t1+t3) / 2) - v1 * t3 + t3**2 * self.a_max_1 / 2
t2t = max(0, hleft2 / v1)
@ -86,7 +87,7 @@ class OptTimeCalculator(AutoConfigClass):
v1 = topen_1_acc * self.a_max_1
if s1 > topen_1_speed * v1:
s1 -= topen_1_speed * v1
topen_1_mark = 2 * topen_1_acc + topen_1_speed - sqrt(topen_1_acc ** 2 - 2 * s1 / self.a_max_1)
topen_1_mark = 2 * topen_1_acc + topen_1_speed - sqrt(max(0,topen_1_acc ** 2 - 2 * s1 / self.a_max_1))
else:
topen_1_mark = topen_1_acc + s1 / v1
@ -96,7 +97,7 @@ class OptTimeCalculator(AutoConfigClass):
v2 = topen_2_acc * self.a_max_2
if s2 > topen_2_speed * v2:
s2 -= topen_2_speed * v2
topen_2_mark = 2 * topen_2_acc + topen_2_speed - sqrt(topen_2_acc ** 2 - 2 * s2 / self.a_max_2)
topen_2_mark = 2 * topen_2_acc + topen_2_speed - sqrt(max(0,topen_2_acc ** 2 - 2 * s2 / self.a_max_2))
else:
topen_2_mark = topen_2_acc + s2 / v2
@ -108,7 +109,7 @@ class OptTimeCalculator(AutoConfigClass):
v0 = self.allTimes["tclose_1_acc"] * self.a_max_1
vF0 = v0 * self.k_hardness_1
vFmax = min(self.v_max_1 * self.k_hardness_1, sqrt(self.k_hardness_1 / (self.mass_1)) * self.Ftogrow)
vFmax = min(self.v_max_1 * self.k_hardness_1, sqrt(self.k_hardness_1 / self.mass_1) * self.Ftogrow)
L = sqrt(self.k_hardness_1 / self.mass_1 * self.eff_control ** 2 + vF0 * vF0)
tspeed = sqrt(self.mass_1 / self.k_hardness_1) * (
@ -159,56 +160,78 @@ class OptTimeCalculator(AutoConfigClass):
Tfull = self.time_robot_movement
L = self.__dict__["distance_l_" + str(i)]
maxL = contact[i - 1] - L - x0
maxL = L + x0
self.Tmovementi(i, x, Tfull, v0, maxL)
return pos0s, v0s
def Tmovementi(self, i, Sfull, Tfull, v0, maxL) -> None:
v0 = abs(v0)
vmax = self.__dict__["v_max_" + str(i)]
if vmax < v0 - self.check_eps:
raise Exception("Ошибка - скорость в начале перемещения больше макимальной - проверьте скорость")
a = self.__dict__["a_max_" + str(i)]
t3 = (Tfull + v0 / a) / 2
Sfull = -Sfull
sqrtval = a ** 2 * (
a ** 2 * (Tfull + 2 * t3) ** 2 - 8 * a * Sfull + 2 * a * v0 * (Tfull + 2 * t3) - 3 * v0 ** 2)
if sqrtval < 0:
raise Exception("""Невозможно с S_{i} добраться но H*_{i} за указанное время,
проверьте distance_s_{i}, distance_h_end{i}, time_command, time_robot_movement""")
t1max = ((Tfull + 2 * t3) + v0 / a) / (2) - sqrt(sqrtval) * sqrt(2) / (4 * a ** 2)
t1 = min(t1max, (vmax - abs(v0)) / a)
t1Llimit = -v0 / a + sqrt(v0 ** 2 / (a ** 2) + (abs(maxL) - v0 * v0 / a) / a)
t1 = max(0, min(t1, t1Llimit))
t31 = v0 / a + t1
v1 = v0 + a * t1
#try to push t2 to limit S3_2-5
maxiter = 10
t2 = 0
for j in range(maxiter):
S1 = v0 * t1 + a * t1 * t1 / 2 + v1 * t31 - a * t31 * t31 / 2 + t2 * v1
S2max = Sfull + S1
t5max = sqrt(S2max / a)
t5 = min(t5max, (vmax) / a)
t32 = t5
t3 = t31 + t32
time_eps = 1e-8
T = 0
if Sfull > 0:
S1_min = max(Sfull,v0*v0 / (2*a)) + 1e-7
else:
S1_min = v0*v0 / (2*a) + 1e-7
S1_max = maxL
if S1_min > S1_max:
raise Exception("Ошибка - невозможно перемещение робота из-за слишком большого оффсета следующей заготовки - не хватает максимального раскрытия")
# calc for S1
def calc_Tmovement_for_S1(S1):
S2 = -Sfull + S1
if S2 < 0:
raise Exception("Ошибка - прохождение второй части перемещения - отрицательно, неизвестное поведение")
t1_theory = -v0 / a + sqrt(v0 * v0 / (2 * a * a) + S1 / a)
t1 = min(t1_theory, max(0, vmax - v0) / a)
v2 = v0 + t1 * a
t31 = v2 / a
S1_fact = v0 * t1 + a * t1 ** 2 / 2 + v2 * t31 - a * t31 ** 2 / 2
t2 = max(0, (S1 - S1_fact) / v2)
T1 = t1 + t31 + t2
v1 = abs(v0 + t1 * a)
v3 = abs(v0 + t1 * a - t3 * a)
timeleft = Tfull - t1 - t5 - t3
sq = -v0 * t1 - a * t1 ** 2 / 2 - v1 * t3 + a * t3 ** 2 / 2 + v3 * t5 - a * t5 ** 2 / 2
Sleft = Sfull - sq
t32_theory = sqrt(S2 / a)
t32 = min(t32_theory, (vmax) / a)
v4 = t32 * a
t5 = t32
S2_fact = a * t32 ** 2 / 2 + v4 * t5 - a * t5 ** 2 / 2
t4 = max(0, (S2 - S2_fact) / v4)
T2 = t32 + t4 + t5
T = T1 + T2
return T, (t1, t2, t31, t32, t4, t5)
t2max = (timeleft - Sleft / v3) / (1 + v1 / v3)
Smovement = -v0 * t1 - a / 2 * t1 ** 2 - v1 * t31 + a / 2 * t31 ** 2
if v1 == 0:
t2 = 0
else:
t2 = max(0, min(t2max, (abs(maxL) - abs(Smovement)) / v1))
t4 = max(0, Sleft / v3 + v1 / v3 * t2)
tstay = max(0, Tfull - t1 - t2 - t3 - t4 - t5)
T_min, _ = calc_Tmovement_for_S1(S1_min)
if T_min > Tfull:
raise Exception(f"""Ошибка - время перемещения слишком мало, чтобы хотя бы закончить раскрытие, проверьте скорость, ускорение, время перемещения робота """)
T_max, _ = calc_Tmovement_for_S1(S1_max)
if T_max < Tfull:
S1 = S1_max
else:
maxiter = 20
cur_iter = 0
while abs(T - Tfull) > time_eps and S1_max > S1_min and cur_iter < maxiter:
S1_cur = (S1_min + S1_max)/2
T, _ = calc_Tmovement_for_S1(S1_cur)
if T > Tfull:
S1_max = S1_cur
else:
S1_min = S1_cur
cur_iter += 1
S1 = S1_min
T, tarray = calc_Tmovement_for_S1(S1)
tstay = max(0, Tfull - T)
t1, t2, t31, t32, t4, t5 = tarray
for j, t in enumerate(tarray):
if t < 0:
raise Exception(f"""Ошибка - время перехода во время фазы {j + 1} {i}-го электрода отрицательно - переход невозможен с такими параметрами,
проверьте скорость, ускорение, смещение """)
self.allTimes["tmovement_" + str(i) + "_acc"] = t1
self.allTimes["tmovement_" + str(i) + "_speed"] = t2
self.allTimes["tmovement_" + str(i) + "_slow"] = t31
@ -226,7 +249,7 @@ class OptTimeCalculator(AutoConfigClass):
v0 = min(v0q, sqrt(1 / (self.k_hardness_1 * self.mass_1)) * self.Ftogrow)
t2 = T - sqrt(max(0, T ** 2 - 2 * s / self.a_max_1))
if t2 * self.a_max_1 < v0:
#we should wait to end with max speed
#we should wait to end with max speed but dont do it
t2 = v0 / self.a_max_1
t3 = max(0, (s - self.a_max_1 * t2 ** 2 / 2) / (self.a_max_1 * t2))
t1 = T - t2 - t3