But all in all, he is still a professional manager.
Everyone knew that Cook was not to blame for this matter, but he just mentioned it a few times! There was no longer a fierce pursuit, and he turned over it.
The conference room was quiet, no one present spoke anymore, they were all making their own little calculations in their minds.
"Cook, now the flower growers have united for Hua, VI, PO, and Rice. Europe and the United States can be released first, but in the flower grower market, if there is no good countermeasures, you should know the consequences! It will definitely be a disaster!
"
"I know, this is very troublesome. No. 9 Technology is a flower grower." Cook's head grew bigger.
I have already begun to scold mmp in my heart. This is what you consortiums are doing. You are greedy for other people's technology. Now if there is a problem, let me deal with it. How should I deal with it?
"Then develop it yourself. We have the most powerful experimental equipment in the world."
“The most complete supporting facilities and management team.”
"Even if our most powerful Eagle Sauce can't stop charging forever, it should still be able to increase its galloping ability."
"..."
His eyes returned to Liu Chi.
After the press conference, Liu Chi took Ye Yuxin to have a meal and then returned to the company.
Continue the great cause of robots.
Zhang You came over.
"What's the matter?" Liu Chi looked at Zhang You doubtfully and asked.
"Boss Mr. Li and Mr. Wang are looking for you," Zhang You said.
"Did you say something?" Liu Chi remembered at this moment that he hadn't heard from Mr. Li Jiang for a long time.
"They seem to have completed the experiment and are now here to say goodbye."
"Okay, you bring them to my office for a meeting first. I'll finish processing the parts and then go there. Please wait for a while." Liu Chi thought for a while and said.
"OK."
"..."
Fifteen minutes later.
Liu Chi returned to his office and saw the four people sitting on the sofa. He said hello: "Mr. Li, Mr. Chen, and Mr. Wang!"
"Mr. Liu, I'm sorry to disturb you from doing the experiment."
"It's okay, how is it? I heard from Zhang You that your project is completed?" Liu Chi asked the three of them to sit down, picked up the cup and poured a glass of water.
"Yes, the final assembly can be carried out. After our countless verifications and modifications, there should be no big problem this time." After finishing speaking, Li Jiang thanked Liu Chi: "I still have to thank you, otherwise when will our project be completed?"
It may not even be completed.”
"With a little effort, great things can be accomplished." Liu Chi was also happy for the three of them.
"All the accessories have been completed, and we have people rushing back to assemble it, so today we are here to say goodbye."
"It's okay. Your work is important. If you need my help in any way, please call me at any time." Liu Chi also knew that people like Li Jiang are workaholics, so he could come up and sit down and drink for half an hour.
Tea is already very respectable.
"Don't worry, I will call you if necessary." After Li Jiang finished speaking, he stopped talking: "Then let's go first."
"Okay, I'll see you off." Liu Chi also stood up with the three of them.
"..."
After Liu Chi sent the three people away, he went around the super large five-axis machining center and looked at it for a while. Yes, it was all cleaned up.
I just don’t know who will come in later.
I don’t know what happened to what I made above.
Now that I am busy making robots, I don’t have time to take care of this machine tool, so I can only put it aside for now.
...
Time flies!
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.
Even more difficult.
Next is the difference test.
Mainly flexibility and intelligence.
Everything else will basically be no problem.
First, try the 24-node joint technology to see if it can meet his requirements. Liu Chi picked up the USB 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 chance of failure the first time was relatively high, the difference was probably too far.
If there is a problem, you have to find a way to solve it.
You don't even need to look to know that the problem lies in the joint technique.
For the human body, the coordinate change of joints is very simple. As long as the current joint is multiplied by the node rotation matrix and the child node offset matrix, the coordinate transformation from node to child node can be completed.
But the coordinate transformation of robots is not that simple. Robots are more complicated than people, mainly in two aspects:
1: The human joint is a spherical structure with three degrees of freedom; while the joints of robots generally have only one degree of freedom, so using a robot to simulate a human wrist requires three joints.
2: Human joints are connected by arms, and the distance between the two joints will not change during rotation; while the connection between robot joints is more complicated.
Liu Chi opened the design drawing of the robot!
Enlarge the joint rotation part.
These are two rotating joints that rotate around two axes respectively;
Moreover, the two joints are not directly connected together, and the length of the connecting rod between the two joints is not fixed or is not a straight line.
A problem arises here!
It cannot directly multiply the rotation matrix and offset matrix to perform coordinate transformation like in human animation.
This seems quite complicated, which makes the coordinate transformation really complicated.
Half an hour later, Liu Chi's eyes lit up!
An idea came to my mind, I took out a piece of paper from the table, sat down directly, and picked up the pen.
‘Swish, brush, brush…’ was written on the paper.
if:
It's two axes. How about changing it to three axes?
When the angles between y, x and x are the same, the distance between them is divided into three levels.
di;
ai-1;
ai;
The distance between di, ai-1 and ai.
(It can be understood as the distance between the intersection points of ai-1 and ai respectively with z, because ai-1 and ai are perpendicular to z respectively)
And the connection state between di and di connecting rod.
Selecting parameters is the first step in coordinate transformation, then the second step is to establish the Cartesian coordinate system of the joint.
It can be seen from observation that the origin is the closest to the intersection of y and ai-1.
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.
αi-1 can be regarded as the angle between the two z-axes;
ai-1 can be regarded as the distance between the two z-axes,
di can be regarded as the angle between the two x-axes,
di can be viewed as the distance between the two x-axes.
The last step is to perform coordinate transformation
Coordinate transformation is mainly divided into 4 links:
Rotate y around the ai-1 axis (x-axis) by αi-1. (Because ai-1 is perpendicular to y respectively)
Translate x ai-1 along the ai-1 axis (x-axis) direction.
Rotate y around the x-axis (z-axis) di. (because y is perpendicular to ai-1 and ai respectively)
Translate z along the x-axis (z-axis) direction di.
...
Half an hour later!
Liu Chi slapped his thigh!
Done, it should be no problem this time, just pick up the mouse and make modifications based on the original one.