MATLAB機器人仿真程序

傳播優(yōu)秀傳播優(yōu)秀Word附錄MATLAB機器人工具箱仿真程序：運動學(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)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’t=[0:0.01:10];%產(chǎn)生時間向量qA=[000000];%機械手初始關(guān)節(jié)角度qAB=[-pi/2-pi/3 0pi/6pi/3pi/2];% 機械手終止關(guān)節(jié)角度機器人正運動學(xué)仿真演示”);%給仿真圖像命名q=jtraj(qA,qAB,t);%生成關(guān)節(jié)運動軌跡T=fkine(r,q);%正向運動學(xué)仿真函數(shù)plot(r,q);%1/6figure(”Name”,”up6機器人末端位移圖”〕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”,”up6機器人末端軌跡圖”);plot3(x,y,z);〔Rob3.mL1=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”t=[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));xlabel(”/s”);ylabel(”/rad”);subplot(6,1,2);plot(t,q(:,2));xlabel(”/s”);ylabel(”/rad”);subplot(6,1,3);plot(t,q(:,3));xlabel(”/s”);ylabel(”/rad”);subplot(6,1,4);plot(t,q(:,4));xlabel(”/s”);ylabel(”/rad”);subplot(6,1,5);plot(t,q(:,5));title(”轉(zhuǎn)動關(guān)節(jié)5”);xlabel(”/s”);ylabel(”/rad”);subplot(6,1,6);plot(t,q(:,6));title(”轉(zhuǎn)動關(guān)節(jié)6”);xlabel(”/s”);ylabel(”/rad”);機器人各關(guān)節(jié)轉(zhuǎn)動角速度仿真程序：〔Rob4.m〕t=[0:0.01:10];qA=[000000];%機械手初始關(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(:,1));xlabel(”/s”);ylabel(”rad/s”);subplot(6,1,2);plot(t,qd(:,2));xlabel(”/s”);ylabel(”rad/s”);subplot(6,1,3);plot(t,qd(:,3));xlabel(”/s”);ylabel(”rad/s”);subplot(6,1,4);plot(t,qd(:,4));xlabel(”/s”);ylabel(”rad/s”);subplot(6,1,5);plot(t,qd(:,5));xlabel(”/s”);ylabel(”rad/s”);subplot(6,1,6);plot(t,qd(:,6));xlabel(”/s”);ylabel(”rad/s”);〔Rob5.mt=[0:0.01:10];%產(chǎn)生時間向量qA=[000000]qAB=[1.5709 -0.8902 -0.0481 -0.5178 1.0645 -1.0201];[q,qd,qdd]=jtraj(qA,qAB,t);figure(”name”,”up6機器人機械手各關(guān)節(jié)加速度曲線”);subplot(6,1,1);plot(t,qdd(:,1));title(”1”);xlabel(”(s)”);ylabel(”(rad/s^2)”);subplot(6,1,2);plot(t,qdd(:,2));title(”2”);xlabel(”(s)”);ylabel(”(rad/s^2)”);subplot(6,1,3);plot(t,qdd(:,3));title(”3”);xlabel(”(s)”);加速度subplot(6,1,4);plot(t,qdd(:,4));title(”關(guān)節(jié)4”);xlabel(”(s)”);加速度subplot(6,1,5