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本项目采用C++编程语言结合ROS框架构建了完整的双机械臂控制系统,实现了Gazebo仿真环境下的协同运动模拟,并完成了两台实体UR10工业机器人的联动控制。该毕业设计在答辩环节获得98分的优异成绩,所有程序代码均通过系统性调试验证,保证可直接部署运行。 系统架构包含三个核心模块:基于ROS通信架构的双臂协调控制器、Gazebo物理引擎下的动力学仿真环境、以及真实UR10机器人的硬件接口层。在仿真验证阶段,开发了双臂碰撞检测算法和轨迹规划模块,通过ROS控制包实现了末端执行器的同步轨迹跟踪。硬件集成方面,建立了基于TCP/IP协议的实时通信链路,解决了双机数据同步和运动指令分发等关键技术问题。 本资源适用于自动化、机械电子、人工智能等专业方向的课程实践,可作为高年级课程设计、毕业课题的重要参考案例。系统采用模块化设计理念,控制核心与硬件接口分离架构便于功能扩展,具备工程实践能力的学习者可在现有框架基础上进行二次开发,例如集成视觉感知模块或优化运动规划算法。 项目文档详细记录了环境配置流程、参数调试方法和实验验证数据,特别说明了双机协同作业时的时序同步解决方案。所有功能模块均提供完整的API接口说明,便于使用者快速理解系统架构并进行定制化修改。 资源来源于网络分享,仅用于学习交流使用,请勿用于商业,如有侵权请联系我删除!
### 关于霍尼韦尔1902GHD设备的串口设置 霍尼韦尔1902GHD作为一款高性能手持式二维条码扫描仪,在实际应用中可能需要通过串口通信接口将其集成到特定系统中。为此,可以参考霍尼韦尔1900系列的相关资料以及通用的串口配置流程。 #### 虚拟串口驱动的重要性 虚拟串口驱动程序允许霍尼韦尔1902GHD模拟传统串行端口的通信方式,从而在现代操作系统上实现兼容性和高效的数据传输[^1]。安装此驱动后,可以通过计算机上的虚拟COM端口与扫描仪建立连接。 #### 串口参数的基础设定 通常情况下,霍尼韦尔扫描仪支持标准的RS-232串口协议。以下是常见的串口参数设置: | 参数名称 | 值 | |----------------|--------------| | 波特率 | 9600, 19200 或更高 | | 数据位 | 8 | | 停止位 | 1 | | 校验位 | None (无校验) | 这些默认值可以在具体应用场景下调整以满足需求。如果需要自定义参数,则需查阅官方使用手册或相关文档[^3]。 #### 设置方法概述 要完成霍尼韦尔1902GHD的串口配置,可按照如下方式进行操作: 1. 安装适用于该型号的虚拟串口驱动程序(参见霍尼韦尔1900系列相关内容)。这一步骤确保了硬件层面的支持。 2. 使用专门的命令集或者菜单选项更改扫描仪的工作模式至“串口通讯”。这部分涉及具体的指令发送过程,类似于Honeywell 3320G所采用的方式[^2]。 3. 对PC端软件做出相应调整,指定正确的波特率、数据位数等属性以便匹配上述表格内的推荐数值。 4. 测试整个链路是否正常工作——即确认当触发一次成功扫描之后,目标机器能否接收到预期格式的信息反馈回来。 注意:由于不同版本之间可能存在差异,请务必参照最新发布的《霍尼韦尔扫描枪1900完整使用手册》获取最权威指导信息。 ```python # Python示例代码片段用于验证基本串口连通性测试 import serial ser = serial.Serial('COM3', baudrate=9600, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE) if ser.isOpen(): print("Serial port is open.") else: print("Failed to open the serial port.") data_received = ser.readline() print(f"Data received from device: {data_received.decode()}") ser.close() ``` 以上脚本展示了怎样利用Python库`pyserial`打开指定编号为'COM3'的串口号,并尝试读取消息流的内容。 ---
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