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unity中实现机械臂自主运动

news 2025/8/22 13:19:14

目的：导入机械臂的fbx模型，利用C#编写脚本实现机械臂的自主运动

步骤

1.在 Unity 中，右键点击 “Assets” 文件夹，选择 “Create” -> “C# Script” 来创建一个新的 C# 脚本命名为 “ArmController”。

2.双击打开脚本，编写代码来控制机械臂的运动。

using System.Collections;
using System.Collections.Generic;
using UnityEngine;public class ArmController : MonoBehaviour
{// 关节引用public Transform A1;public Transform A2;public Transform A3;public Transform A4;public Transform A5;public Transform A6;// 旋转速度（度/秒）public float A1Speed = 30f;public float A2Speed = 30f;public float A3Speed = 30f;public float A4Speed = 30f;public float A5Speed = 30f;public float A6Speed = 30f;// 每个关节的旋转方向（1为正方向，-1为反方向）private int A1Direction = 1;private int A2Direction = 1;private int A3Direction = 1;private int A4Direction = 1;private int A5Direction = 1;private int A6Direction = 1;// 每个关节独立的角度范围设置[Header("A1关节角度范围")]public float A1MinAngle = 0f;public float A1MaxAngle = 150f;[Header("A2关节角度范围")]public float A2MinAngle = 0f;public float A2MaxAngle = 150f;[Header("A3关节角度范围")]public float A3MinAngle = 0f;public float A3MaxAngle = 150f;[Header("A4关节角度范围")]public float A4MinAngle = 0f;public float A4MaxAngle = 150f;[Header("A5关节角度范围")]public float A5MinAngle = 0f;public float A5MaxAngle = 150f;[Header("A6关节角度范围")]public float A6MinAngle = 0f;public float A6MaxAngle = 150f;void Update(){RotateJoint(A1, ref A1Direction, A1Speed, Vector3.up, A1MinAngle, A1MaxAngle);RotateJoint(A2, ref A2Direction, A2Speed, Vector3.forward, A2MinAngle, A2MaxAngle);RotateJoint(A3, ref A3Direction, A3Speed, Vector3.forward, A3MinAngle, A3MaxAngle);RotateJoint(A4, ref A4Direction, A4Speed, Vector3.right, A4MinAngle, A4MaxAngle);RotateJoint(A5, ref A5Direction, A5Speed, Vector3.forward, A5MinAngle, A5MaxAngle);RotateJoint(A6, ref A6Direction, A6Speed, Vector3.right, A6MinAngle, A6MaxAngle);}// 关节旋转控制函数，带独立角度范围参数private void RotateJoint(Transform joint, ref int direction, float speed, Vector3 axis, float minAngle, float maxAngle){if (joint == null) return;// 获取当前关节在指定轴上的旋转角度float currentAngle = Mathf.Repeat(joint.localEulerAngles[GetAxisIndex(axis)], 360f);// 处理角度超过180度的情况（转换为负角度便于判断）if (currentAngle > 180f){currentAngle -= 360f;}// 检查是否达到角度限制，需要反转方向if (currentAngle >= maxAngle){direction = -1;}else if (currentAngle <= minAngle){direction = 1;}// 应用旋转joint.Rotate(axis, direction * speed * Time.deltaTime);}// 获取轴对应的索引（x=0, y=1, z=2）private int GetAxisIndex(Vector3 axis){if (axis == Vector3.right) return 0;    // x轴if (axis == Vector3.up) return 1;       // y轴if (axis == Vector3.forward) return 2;  // z轴return 0;}
}

3.将编写好的脚本ArmController挂载到机械臂的根节点 GameObject 上（即拖到整个机械臂模型的最上层父节点）。

4.在 Unity 编辑器中，选中挂载脚本的机械臂根节点，在 “Inspector” 面板中设置脚本组件的各个公共变量。