But in general, he is still a professional manager.

Everyone knew that Cook could not be blamed for this, but he just mentioned two sentences!

The conference room was silent, and no one present spoke anymore, all of them were making their own little calculations in their hearts.

"Cook, now the flower growers are for China, VI, PO, and rice have been united, and Europe and the United States can release them first, but if there are no good countermeasures in the flower planter market, you should know the consequences!

"I know, this is very troublesome, No. 9 Technology is a flower planter. Cook's head went wide.

I've already started scolding MMP in my heart, this is your consortium making ghosts, coveting other people's technology, now if there is a problem, let me deal with it, how can I deal with it?

"Then develop it ourselves, 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, it should still be possible to increase the ability to gallop. ”

“......”

His gaze returned to Liu Chi.

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

Continuing the robot business.

Zhang You came over.

"What's the matter?" Liu Chi asked as he looked at Zhang You suspiciously.

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

"Did you say anything?" Liu Chi remembered at this time, he hadn't heard news from Old Man Li Jiang for a long time.

"They seem to have finished their experiments, and now it's time to say goodbye. ”

"Okay, you bring people to my office for a meeting first, I'll process this accessory first, and trouble them to wait for a while." Liu Chi thought about it and said.

"Okay. ”

“......”

Fifteen minutes later.

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

"Mr. Liu, I'm sorry to disturb you about the experiment. ”

"It's okay, how about it, I heard Zhang You say that your project is complete?" Liu Chi asked the three of them to sit down, and after picking up the cup and pouring a glass of water, he asked.

"That's right, it's time for the final assembly, and after we've verified and modified it countless times, it shouldn't be a big problem this time. After Li Jiang finished speaking, he thanked Liu Chi and said: "I still have to thank you, otherwise it is not certain when our project will be completed." ”

"A little effort can make a difference. Liu Chi was also happy for the three of them.

"The parts are all done, and we have people rushing back to assemble them, so today we are here to say goodbye. ”

"It's okay, your work is important, if you need my help, feel free to call me. Liu Chi also knows that people like Li Jiang are all workaholics, and they can come up and sit and drink tea for half an hour, which is already very face-saving.

"Don't worry, I'll call you if necessary. Li Jiang didn't talk anymore after speaking: "Then let's go first." ”

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

“......”

After Liu Chi sent the three of them away, he went to turn around the super-large five-axis machining center, and looked at it for a while.

I just don't know who's going to come in later.

I don't know what happened to the self-made above.

Now I'm busy working on the robot, but I don't have time to care about this machine, so I can only put it aside.

......

Time is like a 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 are finally out.

It's not easy.

Then there is the poor test.

The main thing is flexibility, with intelligence.

Nothing else will be a problem.

Try the 24-node joint technology first, whether it can meet your own requirements, Liu Chi picked up the U disk and installed the intelligent control system.

An hour later!

Liu Chi frowned, looked at the clumsy robot, and sighed helplessly, although he knew that the probability of failure for the first time was relatively large, but it was too far behind.

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

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

However, the coordinate transformation of the robot is not so simple, the robot is more complex than the human, which is mainly reflected in two aspects:

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

2: The human joints are connected by the arms, and the distance between the two joints will not change in the process of rotation, while the connection between the joints of the robot is more complicated.

Liu Chi opened the design of the robot!

Enlarge the rotating part of the joint.

These are two rotational joints that rotate around two axes;

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

Here's where the question arises!

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

This may seem quite complicated, but it can lead to a really complicated coordinate transformation.

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

With an idea in my head, I pulled a piece of paper out of the table, sat down, and picked up the pen.

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

If:

It's a two-axis, what about changing it to a three-axis?

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

Di；

Ai-1；

Ai；

Di, AI-1 and the distance between 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 state of connection between the Di and Di linkages.

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

From the observations, it can be seen that the origin is closest at the intersection of Y and ai-1.

So that we can follow the Y along the z-axis and the x-axis can also follow ai-1.

Then determine the y-axis, which is definitely 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 seen as the angle between the two z-axes;

AI-1 can be seen as the distance between the two z-axes,

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

DI can be seen as the distance between the two x-axes.

The final step is to perform the coordinate transformation

Coordinate transformation is mainly divided into four links:

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

Translate X in the direction of Ai-1 (x-axis) to Ai-1.

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

Translate Z in the direction of the X axis (Z axis) di.

......

Half an hour later!

Liu Chi slapped his thigh!

That's it.,This time it should be no problem.,Just pick up the mouse.,Basically modified in the original.。 (Recommended reading: Reading Files 2013)