Chapter 281

But generally speaking, it is still a professional manager.

Everyone knew that cook could not be blamed for this, but he just mentioned it! No more chasing and beating, they turned over.

The meeting room was quiet. No one was talking. They were all making their own calculations in their hearts.

"Cook, now the flower growers for China, VI, Po and rice have been combined. Europe and the United States can release them first, but if there are no good countermeasures in the flower grower market, you should know the consequences! It was a disaster! "

"I know it's troublesome. No. 9 technology is a flower planting enterprise." Cook's head is a big circle.

In my heart, I have begun to scold MMP. This is the technology of your consortia. 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 perfect supporting facilities and management team."

"Our most powerful Eagle sauce, even if it can't be recharged forever, it should still be possible to increase the driving ability."

“......”

His eyes returned to Liu Chi.

After the press conference, Liu Chi took Ye Yuxin to have a meal and went back to the company.

Continue the robot industry.

Zhang you came to me.

"What's up?" Liu Chi looked at Zhang you suspiciously and asked.

"Boss Li Lao and Wang Gong, they're looking for you." Zhang you said.

"Did you say anything?" At this time, Liu Chi remembered that he had not heard the news of Master Li Jiang for a long time.

"They seem to have finished the experiment. Now they come to say goodbye."

"OK, first you take someone to my office for a meeting. I'll process this part and go there. Please wait for them." Liu Chi thought about the sidewalk.

"OK."

“......”

Fifteen minutes later.

When Liu Chi returned to his office, he saw the four people sitting on the sand and said, "Li Lao, Chen Gong, Wang Gong is good!"

"Mr. Liu, excuse me for doing the experiment."

"It's all right. How about it? I heard from Zhang you that your project has been completed?" Liu Chi asked the three to sit down. He picked up the cup, poured a glass of water, and asked.

"Yes, the final assembly can be carried out. After countless times of verification and modification, it should not be a problem this time." Li Jiang thanked Liu Chi and said, "I still want to thank you, otherwise when our project can be completed is not certain."

"You can do well with a little effort." Liu Chi was also happy for the three.

"All the accessories have been completed, and we have people to rush back for assembly, so today we are here to say goodbye."

"It's okay. Your work is important. If you need my help, call me at any time." Liu Chi also knows that people like Li Jiang are all workaholics. He has been very proud to come up and sit down and drink tea for half an hour.

"Don't worry, I'll call you if necessary." Li Jiang said, "let's go first."

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

“......”

After Liu Chi sent the three away, he went around the super large five axis machining center and looked at it for a while. It was good. They all cleaned up.

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

I don't know how it's made by itself.

Now I'm busy making robots, but I don't have time to care about the machine tool. I can only put it aside first.

......

Time is like comb!

half a month later.

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

The first samples finally came out.

It's not easy.

The next step is the poor test.

Mainly flexibility and intelligence.

There's basically no problem with anything else.

First try the 24 node joint technology to see if it can meet their own requirements. Liu Chi picked up the USB flash disk and installed the intelligent control system.

an hour later!

Liu Chi frowned and looked at the clumsy robot. He sighed helplessly. Although he knew that the probability of failure for the first time was relatively high, it was too far away.

If there is a problem, we have to find a way to solve it.

You don't have to look, you know the problem is 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 child node offset matrix, the coordinate transformation from node to child node can be completed.

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

1: Human joint is a spherical structure with three degrees of freedom; The joints of robots generally have only one degree of freedom, so it needs three joints to simulate human wrists with robots.

2: Human joints are connected by arms, and the distance between the two joints will not change in the process of rotation; The connection between robot joints is complex.

Liu Chi opened the design drawing of the robot!

Zoom in on the joint rotation.

These are two rotating joints rotating around two axes respectively;

Moreover, the two joints are not directly connected, and the length of the connecting rod between the two joints is not fixed or straight.

There will be a problem here!

It can not directly multiply the rotation matrix and offset matrix for coordinate transformation.

This seems quite complex, which will make the coordinate transformation really complex.

Half an hour later, Liu Chi's eyes lit up!

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

'brush...' was written on the paper.

If:

It's a two-axis. How about changing it to a three-axis?

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

Di；

Ai-1；

Ai；

Distance between Di, AI-1 and AI.

(it can be understood as the distance between AI-1 and AI and the intersection of Z, because AI-1 and AI are perpendicular to Z)

The connection state between di and di connecting rods.

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

It can be seen from the observation that the origin selected at the intersection of Y and AI-1 is the nearest.

In this way, our Z axis can be along y, and the X axis can also 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.

α I-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 the two X axes.

The last step is coordinate transformation

Coordinate transformation is mainly divided into four links:

Rotate y around AI-1 axis (x axis) α i-1。（ Because AI-1 is perpendicular to y)

Translate x along AI-1 axis (x axis).

Rotate y around the X axis (Z axis) di（ Because y is perpendicular to AI-1 and AI, respectively)

Translate Z in the x-axis (Z-axis) direction di.

......

In half an hour!

Liu Chi patted his thigh!

It's done. There should be no problem this time. Just pick up the mouse and modify the original basically.