CN111694368A - Six-degree-of-freedom platform control method - Google Patents

Six-degree-of-freedom platform control method Download PDF

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CN111694368A
CN111694368A CN202010501894.8A CN202010501894A CN111694368A CN 111694368 A CN111694368 A CN 111694368A CN 202010501894 A CN202010501894 A CN 202010501894A CN 111694368 A CN111694368 A CN 111694368A
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platform
data
degree
freedom
leg
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吕德生
明宝林
王晨
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

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Abstract

The invention discloses a six-degree-of-freedom platform control method, and relates to man-machine interaction, platform control and software control. The invention aims to solve the problems of complex control and inconvenient operation of the existing six-freedom-degree platform. The process is as follows: firstly, constructing an inertial coordinate system according to the actual size of a six-degree-of-freedom platform of a double controller; secondly, acquiring attitude information of the model relative to an inertial coordinate system; thirdly, solving the length value of each supporting leg; judging whether the length value of each supporting leg exceeds a safety range, and when the length value exceeds the safety range, keeping the current posture of the motion platform without modification; if not, subtracting the initial value of the length of the support leg from the calculated length value of each support leg to obtain the elongation data of six support legs; fifthly, constructing a data sorting script and integrating the six pulse data; and sixthly, constructing a UDP protocol transmission script to realize the control task of the six-degree-of-freedom platform. The invention is used for the field of human-computer interaction and platform control.

Description

Six-degree-of-freedom platform control method
The technical field is as follows:
the invention relates to man-machine interaction and platform control and software control.
Background art:
in the prior art, research is carried out on a motion simulation algorithm and a structure of a six-degree-of-freedom platform, and a motion control algorithm or the structure of the six-degree-of-freedom platform is designed. The object has six degrees of freedom in space, namely, the degree of freedom of movement in the directions of three orthogonal coordinate axes of x, y and z and the degree of freedom of rotation around the three coordinate axes. Therefore, to fully determine the position of the object, the six degrees of freedom must be known.
The method aims at the problems that when the motion control is carried out on the mainstream game development platform Unity at present, a simple and direct platform control scheme is not available, the platform cannot be intuitively controlled in real time, and the six-freedom-degree platform is complex to control and inconvenient to operate.
The invention content is as follows:
the invention aims to solve the problems of complex control and inconvenient operation of the existing six-freedom-degree platform, and provides a six-freedom-degree platform control method.
The six-degree-of-freedom platform control method comprises the following specific processes:
the method comprises the following steps that firstly, an inertial coordinate system is constructed according to the actual size of a six-degree-of-freedom platform of a double controller, the coordinate system is divided into an upper plane and a lower plane, the upper plane and the lower plane are respectively provided with six supporting leg nodes, and the distance between the two planes is height difference;
the six-degree-of-freedom platform of the double controller comprises a base platform and a motion platform;
step two, setting a model in a game engine; acquiring attitude information of the model relative to an inertial coordinate system in real time by using the script;
constructing a script of inverse solution operation, performing geometric operation by using attitude information of the model relative to an inertial coordinate system, and calculating the length value of each supporting leg;
judging whether the length value of each supporting leg exceeds a safety range, and when the length value exceeds the safety range, keeping the current posture of the motion platform without modification;
if not, subtracting the initial value of the length of the support leg from the calculated length value of each support leg to obtain the elongation data of six support legs;
the initial value of the length of the supporting leg is the original length of the supporting leg and is actually measured;
converting the extension data of the supporting legs into pulse data corresponding to the electric cylinders according to the types of the electric cylinders, rounding the data to convert the data into 16-system character strings, and storing the 16-system character strings into a set character string array;
constructing a data sorting script and integrating the six pulse data;
and step six, constructing a UDP protocol transmission script, setting a computer as a server side and two controllers as client sides, and transmitting data to IP addresses of the two controllers by using the UDP protocol to realize the control task of the six-degree-of-freedom platform.
The invention has the beneficial effects that:
the invention constructs an inertial coordinate system according to the actual size of a six-degree-of-freedom platform of a double controller, wherein the six-degree-of-freedom platform of the double controller comprises a base platform and a motion platform; setting a model in a game engine; acquiring attitude information of the model relative to an inertial coordinate system in real time by using the script; constructing a script of inverse solution operation, performing geometric operation by using the attitude information of the model relative to an inertial coordinate system, and calculating the length value of each supporting leg; judging whether the length value of each supporting leg exceeds a safety range, and when the length value exceeds the safety range, keeping the current posture of the motion platform without modification; if not, subtracting the initial value of the length of the support leg from the calculated length value of each support leg to obtain the elongation data of six support legs; converting the extension data of the supporting legs into pulse data corresponding to the electric cylinders according to the types of the electric cylinders, rounding the data into 16-system character strings, and storing the 16-system character strings into a set character string array; constructing a data sorting script and integrating the six pulse data; establishing a UDP protocol transmission script, setting a computer as a server side and two controllers as client sides, and transmitting data to IP addresses of the two controllers by using a UDP protocol; the operation is simple, and the efficiency is high; the control system is constructed by the method, the attitude of the platform can be correspondingly changed only by controlling the attitude of the vehicle by the keyboard in the game, and the platform is controlled by the attitude of the vehicle in the game, so that the problems of complex control and inconvenient operation of the existing six-freedom-degree platform are solved.
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FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of the Stewart platform;
FIG. 3 is a schematic top view coordinate system for a Stewart platform;
FIG. 4 is a vector diagram of the leg and node relationship of the present invention.
Detailed Description
The first embodiment is as follows: the specific process of the six-degree-of-freedom platform control method in the embodiment is as follows:
and performing inverse solution operation on the automobile posture in the virtual scene by using the Unity game development environment, further obtaining the elongation of each electric cylinder, converting the elongation into a control signal, and transmitting the control signal to the controller.
And establishing an automobile control script to control the movement of the automobile.
And (4) constructing a coordinate system by using a six-degree-of-freedom platform, and establishing a C # script for inverse solution operation. The script acquires automobile attitude information in real time, obtains length data of 6 electric cylinders, and stores the length data in an array.
And establishing a data conversion and transmission script. And converting the length data solved by the inverse solution script into 16-system data, expressing the 16-system data in a 16-system character string form, and finally sending the 16-system data to the controller through a UDP (user Datagram protocol) protocol.
Step one, constructing an inertial coordinate system according to the actual size of a six-degree-of-freedom platform (namely two platform controllers, wherein each controller controls three supporting legs) of a double controller, as shown in fig. 2, wherein the coordinate system is divided into an upper plane and a lower plane (the six-degree-of-freedom platform is the upper platform and the lower platform), the upper plane and the lower plane are respectively provided with six supporting leg nodes (the six supporting leg nodes are positioned at the positions of the platform joints), and the distance between the two planes is height difference;
the six-degree-of-freedom platform of the double controller comprises a base platform and a motion platform;
step two, setting a model in a game engine, such as a vehicle model; acquiring attitude information (height, rotation angle in six axial directions) of the vehicle model relative to an inertial coordinate system in real time by using a script (writing a function with the function in C # script code by using a Unity game engine);
constructing a script of inverse solution operation, performing geometric operation by using attitude information of the vehicle model relative to an inertial coordinate system, and calculating the length value of each supporting leg;
step four, judging whether the length value of each supporting leg exceeds a safety range, wherein the length value can be regarded as continuously increasing or decreasing approximately, so that when the length value exceeds the safety range, the motion platform keeps the current posture and is not modified;
if not, subtracting the initial value of the length of the support leg from the calculated length value of each support leg to obtain the elongation data of six support legs;
the initial value of the length of the supporting leg is the original length of the supporting leg and is actually measured;
the electric cylinder is a device in the supporting leg and can push the supporting leg to extend;
converting the extension data of the supporting legs into pulse data corresponding to the electric cylinders according to the types of the electric cylinders, rounding the data to convert the data into 16-system character strings, and storing the 16-system character strings into a set character string array;
constructing a data finishing script (writing a script, the function is data integration), and integrating six pulse data (the function of the script is data integration, and the following is how to integrate specifically);
and step six, constructing a UDP protocol transmission script, setting a computer as a server side and two controllers as client sides, and transmitting data to IP addresses of the two controllers by using the UDP protocol to realize the control task of the six-degree-of-freedom platform.
The second embodiment is as follows: the first difference between the present embodiment and the specific embodiment is: in the second step, the attitude information of the model relative to the inertial coordinate system is the height of the model relative to the inertial coordinate system and the six axial rotation angles of the model relative to the inertial coordinate system;
the six axial directions are the moving freedom of the model along the directions of three rectangular coordinate axes of an inertial coordinate system x, y and z and the rotating freedom around the three rectangular coordinate axes of the inertial coordinate system x, y and z.
Other steps and parameters are the same as those in the first embodiment.
The third concrete implementation mode: the present embodiment differs from the first or second embodiment in that: constructing a script of inverse solution operation in the third step, performing geometric operation by using attitude information of the vehicle model relative to an inertial coordinate system, and calculating a length value of each supporting leg; the specific process is as follows:
a vehicle model is arranged in a game or software, the vehicle model has a posture, the length of the supporting leg needs to be changed in order to simulate the posture, and the electric cylinder is a device for driving the length of the supporting leg and is arranged inside the supporting leg.
According to the actual situation, theoretical research and measurement are carried out on a Stewart platform in an experimental environment, such as a graph in figure 2, and a top-view coordinate system in figure 3 is obtained.
The inner ring is a base platform A1-A6Position coordinates of six supporting leg nodes of the base platform, the outer ring of the base platform is a motion platform, and B of the motion platform is1-B6Position coordinates of six support leg nodes of the motion platform are obtained;
the original points are respectively the mass centers of the base platform and the motion platform, the base platform and the motion platform have a certain height difference, and the motion platform is parallel to the inertial coordinate system at the initial position;
base platform A1、A2、A3、A4、A5、A6The position coordinates of the leg nodes are expressed as:
Figure BDA0002525122350000041
in the formula, raRadius of base platform, βa1iIs the angle between the ith leg node of the base platform and the x axis, βa2iIs the angle between the ith supporting leg node of the base platform and the x axis, A1,3,5Is a base platform1、A3、A5Coordinates of the landing leg node, A2,4,6Is a base platform2、A4、A6Coordinates of the landing leg nodes; t is transposition;
b of the motion platform1、B2、B3、B4、B5、B6The position coordinates of the leg nodes are expressed as:
Figure BDA0002525122350000042
in the formula, rbRadius of motion platform, βb1iIs the angle between the ith leg node of the motion platform and the x-axis, βb2iIs the angle between the ith support leg node of the motion platform and the x axis, B1,3,5As a moving platform B1、B3、B5Coordinates of the landing leg node, B2,4,6As a moving platform B2、B4、B6Coordinates of the landing leg nodes; t is transposition;
according to the final state, namely pose, of the motion platform, the process of solving the length of the electric cylinder in each supporting leg is the inverse kinematics solution; otherwise, the pose information of the platform is solved as a positive solution by utilizing the elongation of the electric cylinder and the length of the supporting leg. The inverse kinematics of the platform is the basis for performing velocity, acceleration and angular velocity analysis and other problems.
In the process of inverse solution, the most convenient is to use the Euler angle to represent the attitude of the motion platform in an inertial coordinate system.
The motion platform performs rotation transformation according to the sequence of zyx in the right-hand coordinate system: initially, the motion platform is parallel to the inertial frame, and the motion platform M is rotated first about its own z-axis by a rotation angle ψ, then about its own y-axis by a rotation angle θ, and finally about its own x-axis by a rotation angle θ
Figure BDA0002525122350000051
The following were used:
Figure BDA0002525122350000052
obtaining:
Figure BDA0002525122350000053
finishing to obtain:
M{3}＝RxRyRzM＝RM
in the formula:
Figure BDA0002525122350000054
Rzrotating the matrix for M about the z-axis;
Figure BDA0002525122350000055
Ryrotating the matrix for M around the y axis;
Figure BDA0002525122350000056
Rxrotating the matrix for M about the x-axis;
finally, a rotation transformation matrix is obtained as follows
Figure BDA0002525122350000061
According to the form of R, R is an orthogonal matrix and satisfies the following conditions:
RT＝R-1
therefore, according to the geometric relationship between the Stewart base platform and the motion platform nodes, as shown in FIG. 4, a representation form of a position inverse solution is obtained by using a vector expression as follows:
li＝S+RBi-Ai,i＝1,2,…,6
in the formula, vector liAnd S is the mass center of the motion platform for the length of each supporting leg.
Other steps and parameters are the same as those in the first or second embodiment.
The fourth concrete implementation mode: this embodiment is different from one of the first to third embodiments in that
Figure BDA0002525122350000062
Figure BDA0002525122350000063
In the formula, βaIs a base platformThe actual measured angle value (which may be A)4And A5The angle therebetween);
Figure BDA0002525122350000064
Figure BDA0002525122350000065
in the formula, βbAngle value (which may be B) actually measured for the moving platform3And B4The angle therebetween).
Other steps and parameters are the same as those in one of the first to third embodiments.
The fifth concrete implementation mode: the difference between this embodiment and one of the first to fourth embodiments is: a is described1、A3、A5The nodes of the supporting legs are respectively separated by 120 degrees A2、A4、A6The support leg nodes are also respectively spaced at 120 degrees, A1Leg joint and A6The leg node angle is βa，A1、A6Symmetric about the x-axis;
A1、A2、A3、A4、A5、A6the position coordinates of the landing leg nodes are sequentially arranged on the base platform anticlockwise;
and A is1、A6Adjacent to, A2、A3Adjacent to, A4、A5Adjacent;
B1、B3、B5spaced 120 degrees apart, B2、B4、B6Also 120 degrees apart, then B3And B4The included angle is βb，B3、B4Symmetric about the x-axis;
B1、B2、B3、B4、B5、B6the position coordinates of the landing leg nodes are sequentially arranged on the motion platform in an anticlockwise manner;
and B1、B2Adjacent to, B3、B4Adjacent to, B5、B6Adjacent;
the x-axis is located at B3、B4On the middle angular bisector, also at A1、A6On the angular bisector of (c).
Other steps and parameters are the same as in one of the first to fourth embodiments.
The sixth specific implementation mode: the difference between this embodiment and one of the first to fifth embodiments is: in the fifth step, according to the type of the electric cylinder, the extension data of the supporting legs are converted into pulse data corresponding to the electric cylinder, then the data are rounded and converted into 16-system character strings, and the 16-system character strings are stored in a set character string array;
constructing a data finishing script (writing a script, the function is data integration), and integrating six pulse data (the function of the script is data integration, and the following is how to integrate specifically);
the specific process is as follows:
because the six-degree-of-freedom platform with the double controllers is used, the elongation data of the six supporting legs are required to be divided into two parts, the elongation data of the three supporting legs of the first controller are written in one piece of data, the elongation data of the three supporting legs controlled by the second controller are written in the other piece of data and are simultaneously and respectively transmitted to the two platform controllers, and each controller controls the motion of the three electric cylinders;
since each controller controls three legs, three elongation data of the first controller need to be written in one data and transmitted to the controller. And writing the elongation data of the three legs controlled by the second controller into another piece of data and transmitting the elongation data to the second controller.
According to the requirement of a controller, each transmitted data is divided into three parts, the front part and the rear part are fixed byte arrays, and the middle part is extension data of three supporting legs in sequence;
setting two byte arrays, and filling the front part and the rear part of the byte arrays;
then converting the 16-system character string into byte type information, and filling the byte type information into the middle part of the byte array in sequence to form two complete byte arrays to prepare for a transmission link;
two pieces of data, e.g. (data themselves are concatenated without space)
Firstly, the method comprises the following steps:
55aa 00 00 13 01 00 00 ff ff ff ff 00 00 00 01 00 00 00 00
00 00 c3 50 00 00 c3 50 00 00 c3 50
12 34 56 78 ab cd
II, secondly:
55 aa 00 00 13 01 00 00 ff ff ff ff 00 00 00 01 00 00 00 00
00 00 c3 50 00 00 c3 50 00 00 c3 50
12 34 56 78 ab cd
the first and second sections are the first and third rows, which are the same for all data. The middle 0000c350 is the elongation information of one leg,
the first piece of data indicates that the three leg elongations are 0000c350, respectively
This is also meant by the second piece of data which is sent to the respective controller for controlling the length of the respective three legs.
Other steps and parameters are the same as those in one of the first to fifth embodiments.
The seventh embodiment: the difference between this embodiment and one of the first to sixth embodiments is: constructing a UDP protocol transmission script, setting a computer as a server side and two controllers as client sides, and transmitting data to IP addresses of the two controllers by using a UDP protocol to realize a control task of the six-degree-of-freedom platform; the specific process is as follows:
and (4) respectively transmitting the two complete byte number groups obtained in the step five to the two controllers by using a UDP protocol, and enabling the two controllers to simultaneously drive the three support legs controlled by the two controllers respectively, thereby realizing the control task of the six-degree-of-freedom platform.
Other steps and parameters are the same as those in one of the first to sixth embodiments.
The following examples were used to demonstrate the beneficial effects of the present invention:
the first embodiment is as follows:
1) the product can be used for entertainment experience in entertainment places or virtual simulation in simulated training environments, and users can feel real motion simulation conditions.
2) The developer using the six-degree-of-freedom platform can use the method to carry out simple and direct motion control.
The present invention is capable of other embodiments and its several details are capable of modifications in various obvious respects, all without departing from the spirit and scope of the present invention.

Claims (7)

1. The six-degree-of-freedom platform control method is characterized by comprising the following steps of: the method comprises the following specific processes:
the method comprises the following steps that firstly, an inertial coordinate system is constructed according to the actual size of a six-degree-of-freedom platform of a double controller, the coordinate system is divided into an upper plane and a lower plane, the upper plane and the lower plane are respectively provided with six supporting leg nodes, and the distance between the two planes is height difference;
the six-degree-of-freedom platform of the double controller comprises a base platform and a motion platform;
step two, setting a model in a game engine; acquiring attitude information of the model relative to an inertial coordinate system in real time by using the script;
constructing a script of inverse solution operation, performing geometric operation by using attitude information of the model relative to an inertial coordinate system, and calculating the length value of each supporting leg;
judging whether the length value of each supporting leg exceeds a safety range, and when the length value exceeds the safety range, keeping the current posture of the motion platform without modification;
if not, subtracting the initial value of the length of the support leg from the calculated length value of each support leg to obtain the elongation data of six support legs;
the initial value of the length of the supporting leg is the original length of the supporting leg and is actually measured;
converting the extension data of the supporting legs into pulse data corresponding to the electric cylinders according to the types of the electric cylinders, rounding the data to convert the data into 16-system character strings, and storing the 16-system character strings into a set character string array;
constructing a data sorting script and integrating the six pulse data;
and step six, constructing a UDP protocol transmission script, setting a computer as a server side and two controllers as client sides, and transmitting data to IP addresses of the two controllers by using the UDP protocol to realize the control task of the six-degree-of-freedom platform.
2. The six-degree-of-freedom platform control method according to claim 1, characterized in that: in the second step, the attitude information of the model relative to the inertial coordinate system is the height of the model relative to the inertial coordinate system and the six axial rotation angles of the model relative to the inertial coordinate system;
the six axial directions are the moving freedom of the model along the directions of three rectangular coordinate axes of an inertial coordinate system x, y and z and the rotating freedom around the three rectangular coordinate axes of the inertial coordinate system x, y and z.
3. The six-degree-of-freedom platform control method according to claim 1 or 2, characterized in that: constructing an inverse solution operation script in the third step, performing geometric operation by using the attitude information of the model relative to the inertial coordinate system, and calculating the length value of each supporting leg; the specific process is as follows:
the inner ring is a base platform A1-A6Position coordinates of six supporting leg nodes of the base platform, the outer ring of the base platform is a motion platform, and B of the motion platform is1-B6Position coordinates of six support leg nodes of the motion platform are obtained;
the original points are respectively the mass centers of the base platform and the motion platform, the base platform and the motion platform have height difference, and the motion platform is parallel to the inertial coordinate system at the initial position;
base platform A1、A2、A3、A4、A5、A6The position coordinates of the leg nodes are expressed as:
Figure FDA0002525122340000021
in the formula, raRadius of base platform, βa1iIs the angle between the ith leg node of the base platform and the x axis, βa2iIs the angle between the ith supporting leg node of the base platform and the x axis, A1,3,5Is a base platform1、A3、A5Coordinates of the landing leg node, A2,4,6Is a base platform2、A4、A6Coordinates of the landing leg nodes; t is transposition;
b of the motion platform1、B2、B3、B4、B5、B6The position coordinates of the leg nodes are expressed as:
Figure FDA0002525122340000022
in the formula, rbRadius of motion platform, βb1iIs the angle between the ith leg node of the motion platform and the x-axis, βb2iIs the angle between the ith support leg node of the motion platform and the x axis, B1,3,5As a moving platform B1、B3、B5Coordinates of the landing leg node, B2,4,6As a moving platform B2、B4、B6Coordinates of the landing leg nodes; t is transposition;
the motion platform performs rotation transformation according to the sequence of zyx in the right-hand coordinate system: initially, the motion platform is parallel to the inertial frame, and the motion platform M is rotated first about its own z-axis by a rotation angle ψ, then about its own y-axis by a rotation angle θ, and finally about its own x-axis by a rotation angle θ
Figure FDA0002525122340000023
The following were used:
Figure FDA0002525122340000024
obtaining:
Figure FDA0002525122340000025
finishing to obtain:
M{3}＝RxRyRzM＝RM
in the formula:
Figure FDA0002525122340000031
Rzrotating the matrix for M about the z-axis;
Figure FDA0002525122340000032
Ryrotating the matrix for M around the y axis;
Figure FDA0002525122340000033
Rxrotating the matrix for M about the x-axis;
finally, a rotation transformation matrix is obtained as follows
Figure FDA0002525122340000034
According to the form of R, R is an orthogonal matrix and satisfies the following conditions:
RT＝R-1
therefore, according to the geometric relationship between the base platform and the motion platform nodes, the expression form of the position inverse solution is obtained by using the vector expression as follows:
li＝S+RBi-Ai,i＝1,2,…,6
in the formula, vector liAnd S is the mass center of the motion platform for the length of each supporting leg.
4. The six-degree-of-freedom platform control method according to claim 3, characterized in that: the above-mentioned
Figure FDA0002525122340000041
Figure FDA0002525122340000042
In the formula, βaThe angle value actually measured by the base platform;
Figure FDA0002525122340000043
Figure FDA0002525122340000044
in the formula, βbIs the actually measured angle value of the moving platform.
5. The six-degree-of-freedom platform control method according to claim 4, characterized in that: a is described1、A3、A5The nodes of the supporting legs are respectively separated by 120 degrees A2、A4、A6The support leg nodes are also respectively spaced at 120 degrees, A1Leg joint and A6The leg node angle is βa，A1、A6Symmetric about the x-axis;
B1、B3、B5spaced 120 degrees apart, B2、B4、B6Also 120 degrees apart, then B3And B4The included angle is βb，B3、B4Symmetric about the x-axis;
the x-axis is located at B3、B4On the middle angular bisector, also at A1、A6On the angular bisector of (c).
6. The six-degree-of-freedom platform control method according to claim 5, characterized in that: in the fifth step, according to the type of the electric cylinder, the extension data of the supporting legs are converted into pulse data corresponding to the electric cylinder, then the data are rounded and converted into 16-system character strings, and the 16-system character strings are stored in a set character string array;
constructing a data sorting script and integrating the six pulse data; the specific process is as follows:
the elongation data of the six supporting legs are divided into two parts, the elongation data of the three supporting legs of the first controller are written in one data, the elongation data of the three supporting legs controlled by the second controller are written in the other data and are simultaneously and respectively transmitted to the two platform controllers, and each controller controls the motion of the three electric cylinders;
each piece of transmitted data is divided into three parts, the front part and the rear part are fixed byte arrays, and the middle part is extension data of three supporting legs in sequence;
setting two byte arrays, and filling the front part and the rear part of the byte arrays;
then the 16-system character string is converted into byte type information, and the byte type information is filled into the middle part of the byte array in sequence to form two complete byte arrays to prepare for a transmission link.
7. The six-degree-of-freedom platform control method according to claim 6, characterized in that: constructing a UDP protocol transmission script, setting a computer as a server side and two controllers as client sides, and transmitting data to IP addresses of the two controllers by using a UDP protocol to realize a control task of the six-degree-of-freedom platform; the specific process is as follows:
and (4) respectively transmitting the two complete byte number groups obtained in the step five to the two controllers by using a UDP protocol, and enabling the two controllers to simultaneously drive the three support legs controlled by the two controllers respectively, thereby realizing the control task of the six-degree-of-freedom platform.
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CN113028987A (en) * 2021-03-03 2021-06-25 中国科学院光电技术研究所 High-precision six-degree-of-freedom measuring method and device based on laser range finder

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