unity中实现机械臂自主运动

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。

cs 复制代码

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。

5.点击 Unity 编辑器上方的 "Play" 按钮，运行场景进行自主运动。