Magic Technology Industry

But in general, it is still a professional manager.

Everyone knows that Cook can't be blamed for this, but he just mentioned a few words!No more chasing, they turned over.

The meeting room was quiet, no one in the room talked anymore, all doing their own calculations in their hearts.

"Cook, now the flower growers are Hua Hua, VI, PO, and rice have been united. Europe and the United States can release first, but if there are no good countermeasures, you should know the consequences! It is definitely a disaster! "

"I know that this matter is very troublesome. No. 9 Technology is a flower-growing enterprise." Cook's head got bigger.

I have already begun to scold MMP in my heart. This is the technology of your consortiums and greedy people. Now if there is a problem, let me deal with it. How can I deal with it?

"Then develop it yourself, we have the most powerful experimental equipment in the world."

"The most complete supporting facilities and management team."

"Our most powerful eagle sauce, even if it can't be permanently uncharged, but it should still be possible to increase its sailing ability."

"..."

His gaze returned to Liu Chi.

After the press conference, Liu Chi took Ye Yuxin for a meal and then returned to the company.

Continue the robotics industry.

Zhang You came over.

"What's the matter?" Liu Chi looked at Zhang You questioningly and asked.

"Boss Li Lao and Wang Gong, they are looking for you." Zhang You said.

"Have you said anything?" Liu Chi remembered only then, and it has been a long time since he heard from Li Jiang.

"They seem to have completed the experiment, and now they are coming to say goodbye."

"Okay, you take people to my office for a meeting first, I will process this accessory first and then go there, please ask them to wait a while." Liu Chi thought for a while.

"Ok."

"..."

Fifteen minutes later.

Liu Chi returned to his office, saw the four people sitting on the sand, and said hello: "Old Li, Chen Gong, Wang Gong!"

"Mr. Liu, I'm bothering you to do the experiment."

"It's okay, how is it, I heard Zhang You say that your project is completed?" Liu Chi asked the three of them to sit down, pick up the cup and pour a glass of water.

"Yes, we can proceed to the final assembly. After countless verifications and modifications, there shouldn't be a big problem this time." After Li Jiang finished speaking, he thanked Liu Chi, "I still have to thank you, otherwise, when will our project be able to It's not necessarily complete."

"With a little effort, you can do well." Liu Chi was also happy for the three.

"The accessories are all completed, and we rushed back to assemble, so today we are here to say goodbye."

"It's okay, your work is important. If you need my help, please call me at any time." Liu Chi also knows that people like Li Jiang are all workaholics. They can sit and drink for half an hour. Tea, it's already saving face.

"Don't worry, I will call you if necessary." Li Jiang didn't talk after he said: "Then let's go first."

"Okay, I'll see you off." Liu Chi also stood up with the three of them.

"..."

After Liu Chi sent the three of them away, he went to the super-large five-axis machining center and looked at it for a while. It was not bad. They all cleaned up.

I just don't know who will come in later.

I don’t know what happened to the above.

Now I am busy with the robot, but I don't have time to take care of the machine, so I can only put it aside.

......

Time is like combing!

After half a month.

Liu Chi looked at the assembled robot in front of him and breathed a sigh of relief.

The first samples are finally out.

It's not easy.

The next step is the difference test.

It is mainly flexibility and intelligence.

Basically there will be no problems with anything else.

First, try the 24-node joint technology to see if it can meet his own requirements. Liu Chi picked up the U disk and installed the intelligent control system.

after an hour!

Liu Chi frowned, looked at the awkward robot, and sighed helplessly. Although he knew the probability of the first failure was relatively high, the difference was too far.

If you have any problems, you have to find a solution.

You don't need to look at it to know that the problem lies in the joint technology.

For the human body, the coordinate change of the joint is very simple. As long as the current joint is multiplied by the node rotation matrix and the child node offset matrix, the coordinate transformation from node to child node can be completed.

However, the coordinate transformation of robots is not that simple. Compared with humans, robots are more complicated, which is mainly reflected in two aspects:

1: The human joint is a spherical structure with three degrees of freedom; while the joint of a robot generally has only one degree of freedom, so three joints are needed to simulate a human wrist with a robot.

2: Human joints are connected by arms, and the distance between the two joints will not change during the rotation; the connection between the joints of the robot is more complicated.

Liu Chi opened the design drawing of the robot!

Enlarge the joint rotation part.

This is the rotation of two rotary joints around two axes respectively;

Moreover, the two joints are not directly connected together, and the length of the link between the two joints is also not fixed or straight.

A question arises here!

It can't directly multiply the rotation matrix and offset matrix to perform coordinate transformation like in human animation.

This seems quite complicated, and it will cause the coordinate transformation to become really complicated.

After half an hour, Liu Chi's eyes lit up!

With an idea in his mind, he pulled out a piece of paper from the table, sat down and picked up the pen.

"Swiss..." was written on the paper.

in case:

Is it two-axis, how about changing to three-axis?

When the angles between Y, X and X are the same, the distance between them is divided into three levels.

Di;

Ai-1;

Ai;

Di, the distance between ai-1 and ai.

(It can be understood as the distance between Ai-1 and Ai and Z, respectively, because Ai-1 and Ai are perpendicular to Z respectively)

And the connection state between Di and di connecting rod.

Selecting parameters is the first step of coordinate transformation, then the second step is to establish the Cartesian coordinate system of the joint.

It can be obtained from the observation that the origin selected at the intersection of Y and ai-1 is the closest.

So our z-axis can be along Y, and the x-axis can be along ai-1.

Then determine the y-axis, which must be equal to the cross product of the x-axis and the z-axis, that is, the position of the y-axis has been determined, and the direction can be determined according to the right-hand coordinate system.

αi-1 can be regarded as the angle between two z-axes;

ai-1 can be regarded as the distance between two z-axes,

Di can be regarded as the angle between two x-axes,

di can be regarded as the distance between two x-axes.

The last step is to perform coordinate transformation

Coordinate transformation is mainly divided into 4 steps:

Rotate Y around the ai-1 axis (x axis) by αi-1.(Because ai-1 is perpendicular to Y respectively)

Translate X along the Ai-1 axis (x axis) by ai-1.

Rotate Y around the X axis (z axis) by Di.(Because Y is perpendicular to ai-1 and ai respectively)

Translate Z along the X axis (z axis) by di.

......

In half an hour!

Liu Chi slapped his thigh!

It's done, this time there should be no problem, just picked up the mouse, and basically modified the original one.