機(jī)器人工具箱仿真程序-Matlab

1、精品好資料學(xué)習(xí)推薦附錄MATLAB機(jī)器人工具箱仿真程序：1）運(yùn)動(dòng)學(xué)仿真模型程序（Rob1.m）L1=link(pi/215000)L2=link(057000)L3=link(pi/213000)L4=link(-pi/200640)L5=link(pi/2000)L6=link(00095)r=robot(L1L2L3L4L5L6)=MOTOMAN-UP6%模型的名稱drivebot(r)2）正運(yùn)動(dòng)學(xué)仿真程序（Rob2.m）L1=link(pi/215000)L2=link(057000)L3=link(pi/213000)L4=link(-pi/200640)L5=link(p

2、i/2000)L6=link(00095)r=robot(L1L2L3L4L5L6)=MOTOMAN-UP6t=0:0.01:10;%產(chǎn)生時(shí)間向量qA=000000;%機(jī)械手初始關(guān)節(jié)角度qAB=-pi/2-pi/30pi/6pi/3pi/2;%機(jī)械手終止關(guān)節(jié)角度f(wàn)igure(Name,up6機(jī)器人正運(yùn)動(dòng)學(xué)仿真演示);%給仿真圖像命名q=jtraj(qA,qAB,t);%生成關(guān)節(jié)運(yùn)動(dòng)軌跡T=fkine(r,q);%正向運(yùn)動(dòng)學(xué)仿真函數(shù)plot(r,q);%生成機(jī)器人的運(yùn)動(dòng)figure(Name,up6機(jī)器人末端位移圖）subplot(3,1,1);plot(t,squeeze(T(1,

3、4,:);xlabel(Time(s);ylabel(X(m);subplot(3,1,2);plot(t,squeeze(T(2,4,:);xlabel(Time(s);ylabel(Y(m);subplot(3,1,3);plot(t,squeeze(T(3,4,:);xlabel(Time(s);ylabel(Z(m);x=squeeze(T(1,4,:);y=squeeze(T(2,4,:);z=squeeze(T(3,4,:);figure(Name,up6機(jī)器人末端軌跡圖);plot3(x,y,z);3）機(jī)器人各關(guān)節(jié)轉(zhuǎn)動(dòng)角度仿真程序：（Rob3.m）L1=link(pi/21500

4、0)L2=link(057000)L3=link(pi/213000)L4=link(-pi/200640)L5=link(pi/2000)L6=link(00095)r=robot(L1L2L3L4L5L6)=motoman-up6t=0:0.01:10;qA=000000;qAB=pi/6pi/6pi/6pi/6pi/6pi/6;q=jtraj(qA,qAB,t);Plot(r,q);subplot(6,1,1);plot(t,q(:,1);title(轉(zhuǎn)動(dòng)關(guān)節(jié)1);xlabel(時(shí)間/s);ylabel(角度/rad);subplot(6,1,2);plot(t,q(:,2)

5、;title(轉(zhuǎn)動(dòng)關(guān)節(jié)2);xlabel(時(shí)間/s);ylabel(角度/rad);subplot(6,1,3);plot(t,q(:,3);title(轉(zhuǎn)動(dòng)關(guān)節(jié)3);xlabel(時(shí)間/s);ylabel(角度/rad);subplot(6,1,4);plot(t,q(:,4);title(轉(zhuǎn)動(dòng)關(guān)節(jié)4);xlabel(時(shí)間/s);ylabel(角度/rad);subplot(6,1,5);plot(t,q(:,5);title(轉(zhuǎn)動(dòng)關(guān)節(jié)5);xlabel(時(shí)間/s);ylabel(角度/rad);subplot(6,1,6);plot(t,q(:,6);title(轉(zhuǎn)動(dòng)關(guān)節(jié)6);xlabel

6、(時(shí)間/s);ylabel(角度/rad);4）機(jī)器人各關(guān)節(jié)轉(zhuǎn)動(dòng)角速度仿真程序：（Rob4.m）t=0:0.01:10;qA=000000;%機(jī)械手初始關(guān)節(jié)量qAB=1.5709-0.8902-0.0481-0.51781.0645-1.0201;q,qd,qdd=jtraj(qA,qAB,t);Plot(r,q);subplot(6,1,1);plot(t,qd(:,1);title(轉(zhuǎn)動(dòng)關(guān)節(jié)1);xlabel(時(shí)間/s);ylabel(rad/s);subplot(6,1,2);plot(t,qd(:,2);title(轉(zhuǎn)動(dòng)關(guān)節(jié)2);xlabel(時(shí)間/s);ylabel(rad/s);s

7、ubplot(6,1,3);plot(t,qd(:,3);title(轉(zhuǎn)動(dòng)關(guān)節(jié)3);xlabel(時(shí)間/s);ylabel(rad/s);subplot(6,1,4);plot(t,qd(:,4);title(轉(zhuǎn)動(dòng)關(guān)節(jié)4);xlabel(時(shí)間/s);ylabel(rad/s);subplot(6,1,5);plot(t,qd(:,5);title(轉(zhuǎn)動(dòng)關(guān)節(jié)5);xlabel(時(shí)間/s);ylabel(rad/s);subplot(6,1,6);plot(t,qd(:,6);title(轉(zhuǎn)動(dòng)關(guān)節(jié)6);xlabel(時(shí)間/s);ylabel(rad/s);5）機(jī)器人各關(guān)節(jié)轉(zhuǎn)動(dòng)角加速度仿真程序：（R

8、ob5.m）t=0:0.01:10;%產(chǎn)生時(shí)間向量qA=000000qAB=1.5709-0.8902-0.0481-0.51781.0645-1.0201;q,qd,qdd=jtraj(qA,qAB,t);figure(name,up6機(jī)器人機(jī)械手各關(guān)節(jié)加速度曲線);subplot(6,1,1);plot(t,qdd(:,1);title(關(guān)節(jié)1);xlabel(時(shí)間(s);ylabel(加速度(rad/s2);subplot(6,1,2);plot(t,qdd(:,2);title(關(guān)節(jié)2);xlabel(時(shí)間(s);ylabel(加速度(rad/s2);subplot(6,1,3);plot(t,qdd(:,3);title(關(guān)節(jié)3);xlabel(時(shí)間(s);ylabel(加速度(rad/s2)subplot(6,1,4);plot(t,qdd(:,4);title(關(guān)節(jié)4);xlabel(時(shí)間(s);ylabel(加速度(rad/s2)subplot(6,1,5);pl