MATLAB機(jī)器人仿真程序

1、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/2 150 0 0)L2=link(0 570 0 0)L3=link(pi/2 130 0 0)L4=link(-pi/2 0 0 640)L5=link(pi/2 0 0 0)L6=link(0 0 0 95)r=robot(L1 L2 L3 L4 L5 L6)=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/2 150 0 0)L2=link(0 570 0 0)L3=link(pi/2 130 0 0)

2、L4=link(-pi/2 0 0 640)L5=link(pi/2 0 0 0)L6=link(0 0 0 95)r=robot(L1 L2 L3 L4 L5 L6)=MOTOMAN-UP6 t=0:0.01:10;%產(chǎn)生時(shí)間向量qA=0 0 0 0 0 0 ; %機(jī)械手初始關(guān)節(jié)角度qAB=-pi/2 -pi/3 0 pi/6 pi/3 pi/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)fi

3、gure(Name,up6機(jī)器人末端位移圖）subplot(3,1,1);plot(t, squeeze(T(1,4,:);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,up

4、6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/2 150 0 0 )L2=link(0 570 0 0)L3=link(pi/2 130 0 0)L4=link(-pi/2 0 0 640)L5=link(pi/2 0 0 0 )L6=link(0 0 0 95)r=robot(L1 L2 L3 L4 L5 L6)=motoman-up6t=0:0.01:10;qA=0 0 0 0 0 0 ;qAB= pi/6 pi/6 pi/6 pi/6 pi/6 pi/6;q=jtraj(qA,qAB,t);Plot(r

5、,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);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);

6、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(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=0 0 0 0 0 0 ;%機(jī)械手初始關(guān)節(jié)量qAB= 1.5709 -0.8902 -0.0481 -0.5178 1.0645 -1.0201;q,qd,qdd=jtraj(qA,qAB,t);Plot(r,q);subplot(6,1,1);plot(t,qd(:

7、,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);subplot(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);xl

8、abel(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：（Rob5.m）t=0:0.01:10;%產(chǎn)生時(shí)間向量qA=0 0 0 0 0 0qAB =1.5709 -0.8902 -0.0481 -0.5178 1.0645 -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,