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https://github.com/luhuadong/arm_robot_sys
A Robotic Arm Controller System with Qt
https://github.com/luhuadong/arm_robot_sys
qt qt-gui robot robotics
Last synced: about 13 hours ago
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A Robotic Arm Controller System with Qt
- Host: GitHub
- URL: https://github.com/luhuadong/arm_robot_sys
- Owner: luhuadong
- License: gpl-3.0
- Created: 2018-06-22T03:27:03.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2024-04-25T13:13:51.000Z (9 months ago)
- Last Synced: 2024-04-26T13:59:37.019Z (9 months ago)
- Topics: qt, qt-gui, robot, robotics
- Language: C
- Homepage:
- Size: 8.03 MB
- Stars: 10
- Watchers: 3
- Forks: 4
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Arm_Robot_Sys
[![GitHubStars](https://img.shields.io/github/stars/luhuadong/Arm_Robot_Sys?style=flat-square&logo=GitHub)](https://github.com/luhuadong/Arm_Robot_Sys/stargazers)
[![GitHub](https://img.shields.io/github/license/luhuadong/Arm_Robot_Sys.svg)](https://github.com/luhuadong/Arm_Robot_Sys/blob/master/LICENSE)
[![GitHub release](https://img.shields.io/github/release/luhuadong/Arm_Robot_Sys.svg)](https://github.com/luhuadong/Arm_Robot_Sys/releases)## 介绍
本项目设计一个工业机器人控制系统(手持示教器),包括界面设计、机器人控制语言解释器、插补算法等等。项目目前包含以下部分:
- MFC 框架显示库 —— 是一个基于 MFC 的工业机器人模拟器(RoboSim),运行在 Windows 平台,支持 scara、delta、puma 模型。
- GRS_Pro —— 目前包含 GR_HMI、GRS_Core、robDecodePrg 三个部分。其中是 GR_HMI 是基于 Qt 设计的界面,GRS_Core 是系统的核心和通用模块,robDecodePrg 是控制语言解释器模块。## 启动程序
RoboSim 与 GRS_Pro 之间通过共享内存进行通信,并且目前设计为由 RoboSim 创建共享内存,因此需要先启动 RoboSim,再启动 GR_HMI 界面部分。
控制器主界面:
![image](./screenshots/GR_HMI_Main.png)
点击右侧控制面板的“Switch”按钮,可以隐藏显示窗口:
![image](./screenshots/GR_HMI_Main_small.png)
菜单功能:
![image](./screenshots/GR_HMI_Menu.png)
Jogging 手动控制界面:
![image](./screenshots/GR_HMI_Jogging.png)
切换运动模式界面:
![image](./screenshots/GR_HMI_Jogging_Motion.png)
切换坐标界面:
![image](./screenshots/GR_HMI_Jogging_Coordinatee.png)
增量设置界面:
![image](./screenshots/GR_HMI_Jogging_Increment.png)
Align 界面:
![image](./screenshots/GR_HMI_Jogging_Align_Coord.png)
实时显示机械臂当前的位置姿态坐标,支持 Quate 和 Euler 转换,支持角度和弧度:
![image](./screenshots/GR_HMI_Jogging_Euler.png)
对机械臂进行示教,需要选择手动控制模式,并按下右侧面板的“Enable”按钮:
![image](./screenshots/GR_HMI_Mode_Manual.png)
结合 RoboSim 进行模拟:
![image](./screenshots/模拟操作.png)