機器人工具箱仿真程序-Matlab

1、附錄MATLAB機器人工具箱仿真程序：1）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)2）正運動學(xué)仿真程序（Rob2.m）L1=link(pi/215000)L2=link(057000)L3=link(pi/213000)L4=link(-pi/200640)L5=link(pi/2000)L6

2、=link(00095)r=robot(L1L2L3L4L5L6)=MOTOMAN-UP6t=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/30pi/6pi/3pi/2;%機械手終止關(guān)節(jié)角度figure(Name,up6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);%生成機器人的運動figure(Name,up6機器人末端位移圖）subplot(3,1,1);plot(t,squeeze(T(1,4,:);xlab

3、el(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);3）機器人各關(guān)節(jié)轉(zhuǎn)動角度仿真程序：（Rob3.m）L1=link(pi/215000)L2=link

4、(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)動關(guān)節(jié)1);xlabel(時間/s);ylabel(角度/rad);subplot(6,1,2);plot(t,q(:,2);title(轉(zhuǎn)動

5、關(guān)節(jié)2);xlabel(時間/s);ylabel(角度/rad);subplot(6,1,3);plot(t,q(:,3);title(轉(zhuǎn)動關(guān)節(jié)3);xlabel(時間/s);ylabel(角度/rad);subplot(6,1,4);plot(t,q(:,4);title(轉(zhuǎn)動關(guān)節(jié)4);xlabel(時間/s);ylabel(角度/rad);subplot(6,1,5);plot(t,q(:,5);title(轉(zhuǎn)動關(guān)節(jié)5);xlabel(時間/s);ylabel(角度/rad);subplot(6,1,6);plot(t,q(:,6); title(轉(zhuǎn)動關(guān)節(jié)6);xlabel(時間/s);y

6、label(角度/rad);4）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=1.5709-0.8902-0.0481-0.51781.0645-1.0201;q,qd,qdd=jtraj(qA,qAB,t);Plot(r,q);subplot(6,1,1);plot(t,qd(:,1);title(轉(zhuǎn)動關(guān)節(jié)1);xlabel(時間/s);ylabel(rad/s);subplot(6,1,2);plot(t,qd(:,2);title(轉(zhuǎn)動關(guān)節(jié)2);xlabel(時間/s);ylabel(rad/s);subplot(6

7、,1,3);plot(t,qd(:,3);title(轉(zhuǎn)動關(guān)節(jié)3);xlabel(時間/s);ylabel(rad/s);subplot(6,1,4);plot(t,qd(:,4);title(轉(zhuǎn)動關(guān)節(jié)4);xlabel(時間/s);ylabel(rad/s);subplot(6,1,5);plot(t,qd(:,5);title(轉(zhuǎn)動關(guān)節(jié)5);xlabel(時間/s);ylabel(rad/s);subplot(6,1,6);plot(t,qd(:,6);title(轉(zhuǎn)動關(guān)節(jié)6);xlabel(時間/s);ylabel(rad/s);5）機器人各關(guān)節(jié)轉(zhuǎn)動角加速度仿真程序：（Rob5.m）t=

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