本帖最后由 沿途2013 于 2014-6-12 21:29 编辑
版主:
你好，我是Adams初学者！向你请教一个问题： 在一六轴机器人上，先是在其末端按规划好的轨迹添加一“一般点驱动”，让末端走到目标点，然后在机器臂各转动关节上建立相应的measure，以得出其关节角的变化曲线，再针对各angle变化曲线建立相应的样条（spline_1~spline_6）,再根据你之前所提示的样条函数AKISPL( 1st_Indep_Var , 2nd_Indep_Var , Spline_Name , Deriv_Order)函数的应用，在各关节转动副上一一添加驱动，为什么仿真结果差别那么大，还有很多Warning。麻烦版主给我详细介绍下AKISPL函数的应用好吗？感激不尽....!
<以下是我课题中的问题，请版主帮忙查阅下其中问题，谢谢。。。！>
各关节驱动是这样的：AKISPL（time,0,spline_1,0）~~AKISPL(time,0,spline_6,0)；（至于后边是否还要乘以个time，我不知用意何在？求版主指教！）
仿真结果（warnings）：
WARNING: An out-of-range X value has been used in the spline calculation. Extrapolation is required for the SPLINE Knee.drive_2.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_3.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_4.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_5.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_6.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_2.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_3.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_4.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_5.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_6.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_2.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_3.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_4.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_5.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_6.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_2.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_3.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_4.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_5.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_6.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_2.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_3.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_4.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_5.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_6.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: Adams will no longer warn for any out-of-range violations for
SPLINE Knee.drive_2. Out-of-range X and Z values of spline have been used more
than 5 times.
WARNING: Adams will no longer warn for any out-of-range violations for
SPLINE Knee.drive_3. Out-of-range X and Z values of spline have been used more
than 5 times.
WARNING: Adams will no longer warn for any out-of-range violations for
SPLINE Knee.drive_4. Out-of-range X and Z values of spline have been used more
than 5 times.
WARNING: Adams will no longer warn for any out-of-range violations for
SPLINE Knee.drive_5. Out-of-range X and Z values of spline have been used more
than 5 times.
WARNING: Adams will no longer warn for any out-of-range violations for
SPLINE Knee.drive_6. Out-of-range X and Z values of spline have been used more
than 5 times.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_2.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_3.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_4.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_5.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_6.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_2.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_3.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_4.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_5.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_6.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_2.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_3.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_4.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_5.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_6.
The X value ( -1.0E-05 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_2.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_3.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_4.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_5.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_6.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_2.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_3.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_4.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_5.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: An out-of-range X value has been used in the spline calculation.
Extrapolation is required for the SPLINE Knee.drive_6.
The X value ( 0.20 ) should be between 0.0 and 0.17453.
WARNING: Adams will no longer warn for any out-of-range violations for
SPLINE Knee.drive_2. Out-of-range X and Z values of spline have been used more
than 5 times.
WARNING: Adams will no longer warn for any out-of-range violations for
SPLINE Knee.drive_3. Out-of-range X and Z values of spline have been used more
than 5 times.
WARNING: Adams will no longer warn for any out-of-range violations for
SPLINE Knee.drive_4. Out-of-range X and Z values of spline have been used more
than 5 times.
WARNING: Adams will no longer warn for any out-of-range violations for
SPLINE Knee.drive_5. Out-of-range X and Z values of spline have been used more
than 5 times.
WARNING: Adams will no longer warn for any out-of-range violations for
SPLINE Knee.drive_6. Out-of-range X and Z values of spline have been used more
than 5 times.
|
发表于 2012-3-29 22:16:57
