機(jī)器人技術(shù)大作業(yè)

機(jī)器人技術(shù)大作業(yè)用時(shí)可以刪除adad1.坐標(biāo)系建立運(yùn)動(dòng)范圍運(yùn)動(dòng)范圍160°°°170°100°266°i00i0000123456li02-a000di020d40d633.正運(yùn)動(dòng)學(xué)推導(dǎo)變換矩陣求取|ii|i|i0iii0iiidi2||s2|2A3=|2||5A6=3|00||01」-s600]|c600|01d||001」ii又由0T=0A.1A.2A.3A.4A.5A，利用Matlab進(jìn)行符號運(yùn)算，運(yùn)行程序6123456PUMAzhengyundongxue(程序詳見附錄)得：「nxsxaxpx] l33變換矩陣驗(yàn)證初步驗(yàn)證ii使用matlab機(jī)器人工具箱詳細(xì)驗(yàn)證運(yùn)動(dòng)范圍運(yùn)動(dòng)范圍60°°°70°00°i0i000i0d2=0d4=012345l(m)i0a2=-a=00366°d6=0006PUMAyanzheng(程序詳見附錄)得到如下圖，與PUMA560機(jī)器人一致，表明4.逆運(yùn)動(dòng)學(xué)推導(dǎo)反變換法求逆0T=0A.1A.2A.3A.4A.5A，且有6123456「nxsxaxpx](1)求91623456||-nz|L0x|L0000px']pz|01」(|nx'=s4*s6*(c2*c3-s2*s3)-c6*(s5*(c2*s3+c3*s2)-c4*c5*(c2*c3-s2*s3))(|sx'=-s6*(s5*(c2*s3+c3*s2)-c4*c5*(c2*c3-s2*s3))-c6*s4*(c2*c3-s2*s3)(|ax'=c5*(c2*s3+c3*s2)+c4*s5*(c2*c3-s2*s3)(ay*c1-ax*s1=s4*s5262666266(|r=(d6*ax+px)2+(py+d6*ay)21r(2)求93216456||||b21||||||||==00-d*c4*s6ds4*s56d-d*c546〈232346得(2*d*E2*a*F)*c23+(2*a*E+2*d*F)*s23=G4334(5)求94(2*d*E-2*a*F=psinQ234622nn3(3)求93a-E*s23+F*c233a-E*s23+F*c233(4)求952(-d*c4*s5=py*s1*c23-pz*s23+c1*px*c23+aa*c33232(6)求9〈5.工作空間求取22346現(xiàn)。這種多解情況下，應(yīng)選取其中最滿意的一組解，以滿足機(jī)器人的工作要(1)PUMAzhengyundongxue程序clearsymsa2a3d2d4d6c1c2c3c4c5c6s1s2s3s4s5s6;A1=[c10-s10;s10c10;0-100;0001];A2=[c2-s20a2*c2;s2c20a2*s2;001d2;0001];A3=[c30s3-a3*c3;s30-c3-a3*s3;0100;0001];A4=[c40-s40;s40c40;0-10d4;0001];A5=[c50s50;s50-c50;0100;0001];A6=[c6-s600;s6c600;001d6;0001];T60=A1*A2*A3*A4*A5*A6T60=subs(T60,{c1c2c3c4c5c6s1s2s3s4s5s6},{010111101000})(2)PUMAyanzheng程序clearL1=Link([-pi/20000],'standard')L2=Link([000],'standard')L3=Link([pi/2pi/200],'standard')L4=Link([-pi/2000],'standard')L5=Link([pi/20000],'standard')L6=Link([0000],'standard')r=robot({L1L2L3L4L5L6})drivebot(r)(3)PUMAgongzuokongjian程序cleara2=;a3=;d2=;d4=;d6=;c1=*pi;c3=*pi;c4=*pi;c5=*pi;forb1=-160.*pi/180:32.*pi/180:160.*pi/180forb2=-225.*pi/180:54.*pi/180:45.*pi/180forb3=-45.*pi/180:54.*pi/180:225.*pi/180forb4=-110.*pi/180:140.*pi/180:170.*pi/180forb5=-100.*pi/180:100.*pi/180:100.*pi/180x=d4*(cos(b3)*sin(c3)*(cos(b1)*sin(b2)+cos(b2)*cos(c1)*sin(b1))+...sin(b3)*sin(c3)*(cos(b1)*cos(b2)-cos(c1)*sin(b1)*sin(b2))+cos(c3)*sin(b1)*sin(c1))+...d6*(cos(c5)*(cos(c4)*(cos(b3)*sin(c3)*(cos(b1)*sin(b2)+cos(b2)*cos(c1)*sin(b1))+sin(b3)*sin(c3)*(cos(b1)*cos(b2)-cos(c1)*sin(b1)*sin(b2))+...cos(c3)*sin(b1)*sin(c1))+cos(b4)*sin(c4)*(cos(b3)*cos(c3)*(cos(b1)*sin(b2)+cos(b2)*cos(c1)*sin(b1))+cos(c3)*sin(b3)*(cos(b1)*cos(b2)-...cos(c1)*sin(b1)*sin(b2))-sin(b1)*sin(c1)*sin(c3))+sin(b4)*sin(c4)*(cos(b3)*(cos(b1)*cos(b2)-cos(c1)*sin(b1)*sin(b2))-sin(b3)*(cos(b1)*sin(b2)+...cos(b2)*cos(c1)*sin(b1))))+sin(b5)*sin(c5)*(cos(b4)*(cos(b3)*(cos(b1)*cos(b2)-cos(c1)*sin(b1)*sin(b2))-sin(b3)*(cos(b1)*sin(b2)+...cos(b2)*cos(c1)*sin(b1)))-sin(b4)*(cos(b3)*cos(c3)*(cos(b1)*sin(b2)+cos(b2)*cos(c1)*sin(b1))+cos(c3)*sin(b3)*(cos(b1)*cos(b2)-cos(c1)*sin(b1)*sin(b2))-...sin(b1)*sin(c1)*sin(c3)))+cos(b5)*sin(c5)*(cos(b4)*cos(c4)*(cos(b3)*cos(c3)*(cos(b1)*sin(b2)+cos(b2)*cos(c1)*sin(b1))+cos(c3)*sin(b3)*(cos(b1)*cos(b2)-...cos(c1)*sin(b1)*sin(b2))-sin(b1)*sin(c1)*sin(c3))-sin(c4)*(cos(b3)*sin(c3)*(cos(b1)*sin(b2)+cos(b2)*cos(c1)*sin(b1))+sin(b3)*sin(c3)*(cos(b1)*cos(b2)-...cos(c1)*sin(b1)*sin(b2))+cos(c3)*sin(b1)*sin(c1))+cos(c4)*sin(b4)*(cos(b3)*(cos(b1)*cos(b2)-cos(c1)*sin(b1)*sin(b2))-sin(b3)*(cos(b1)*sin(b2)+...cos(b2)*cos(c1)*sin(b1)))))+a2*cos(b1)*cos(b2)+d2*sin(b1)*sin(c1)-a3*cos(b3)*(cos(b1)*cos(b2)-cos(c1)*sin(b1)*sin(b2))+a3*sin(b3)*(cos(b1)*sin(b2)+...cos(b2)*cos(c1)*sin(b1))-a2*cos(c1)*sin(b1)*sin(b2)y=d4*(cos(b3)*sin(c3)*(sin(b1)*sin(b2)-cos(b1)*cos(b2)*cos(c1))+sin(b3)*sin(c3)*(cos(b2)*sin(b1)+cos(b1)*cos(c1)*sin(b2))-cos(b1)*cos(c3)*sin(c1))+...d6*(cos(c5)*(cos(c4)*(cos(b3)*sin(c3)*(sin(b1)*sin(b2)-cos(b1)*cos(b2)*cos(c1))+sin(b3)*sin(c3)*(cos(b2)*sin(b1)+cos(b1)*cos(c1)*sin(b2))-...cos(b1)*cos(c3)*sin(c1))+cos(b4)*sin(c4)*(cos(b3)*cos(c3)*(sin(b1)*sin(b2)-cos(b1)*cos(b2)*cos(c1))+cos(c3)*sin(b3)*(cos(b2)*sin(b1)+...cos(b1)*cos(c1)*sin(b2))+cos(b1)*sin(c1)*sin(c3))+sin(b4)*sin(c4)*(cos(b3)*(cos(b2)*sin(b1)+cos(b1)*cos(c1)*sin(b2))-sin(b3)*(sin(b1)*sin(b2)-...cos(b1)*cos(b2)*cos(c1))))+cos(b5)*sin(c5)*(cos(b4)*cos(c4)*(cos(b3)*cos(c3)*(sin(b1)*sin(b2)-cos(b1)*cos(b2)*cos(c1))+cos(c3)*sin(b3)*(cos(b2)*sin(b1)+...cos(b1)*cos(c1)*sin(b2))+cos(b1)*sin(c1)*sin(c3))-sin(c4)*(cos(b3)*sin(c3)*(sin(b1)*sin(b2)-cos(b1)*cos(b2)*cos(c1))+sin(b3)*sin(c3)*(cos(b2)*sin(b1)+...cos(b1)*cos(c1)*sin(b2))-cos(b1)*cos(c3)*sin(c1))+cos(c4)*sin(b4)*(cos(b3)*(cos(b2)*sin(b1)+cos(b1)*cos(c1)*sin(b2))-sin(b3)*(sin(b1)*sin(b2)-...cos(b1)*cos(b2)*cos(c1))))+sin(b5)*sin(c5)*(cos(b4)*(cos(b3)*(cos(b2)*sin(b1)+cos(b1)*cos(c1)*sin(b2))-sin(b3)*(sin(b1)*sin(b2)-...cos(b1)*cos(b2)*cos(c1)))-sin(b4)*(cos(b3)*cos(c3)*(sin(b1)*sin(b2)-cos(b1)*cos(b2)*cos(c1))+cos(c3)*sin(b3)*(cos(b2)*sin(b1)+cos(b1)*cos(c1)*sin(b2))+...cos(b1)*sin(c1)*sin(c3))))+a2*cos(b2)*sin(b1)-d2*cos(b1)*sin(c1)-a3*cos(b3)*(cos(b2)*sin(b1)+cos(b1)*cos(c1)*sin(b2))+a3*sin(b3)*(sin(b1)*sin(b2)-...cos(b1)*cos(b2)*cos(c1))+a2*cos(b1)*cos(c1)*sin(b2)z=d4*(cos(c1)*cos(c3)-cos(b2)*cos(b3)*sin(c1)*sin(c3)+sin(b2)*sin(b3)*sin(c1)*sin(c3))+d2*cos(c1)+d6*(cos(c5)*(cos(c4)*(cos(c1)*cos(c3)-...cos(b2)*cos(b3)*sin(c1)*sin(c3)+sin(b2)*sin(b3)*sin(c1)*sin(c3))+sin(b4)*sin(c4)*(cos(b2)*sin(b3)*sin(c1)+cos(b3)*sin(b2)*sin(c1))-...cos(b4)*sin(c4)*(cos(c1)*sin(c3)+cos(b2)*cos(b3)*cos(c3)*sin(c1)-cos(c3)*sin(b2)*sin(b3)*sin(c1)))+sin(b5)*sin(c5)*(cos(b4)*(cos(b2)*sin(b3)*sin(c1)+...cos(b3)*sin(b2)*sin(c1))+sin(b4)*(cos(c1)*sin(c3)+cos(b2)*cos(b3)*cos(c3)*sin(c1)-cos(c3)*sin(b2)*sin(b3)*sin(c1)))-cos(b5)*sin(c5)*(sin(c4)*(cos(c1)*cos(c3)-...cos(b2)*cos(b3)*sin(c1)*sin(c3)+sin(b2)*sin(b3)*sin(c1)*sin(c3))+cos(b4)*cos(c4)*(cos(c1)*sin(c3)+cos(b2)*cos(b3)*cos(c3)*sin(c1)-cos(c3)*sin(b2)*sin(b3)*sin(c1))-...cos(c4)*sin(b4)*(cos(b2)*sin(b3)*sin(c1)+cos(b3)*sin(b2)*sin(c1))))+a2*sin(b2)*sin(c1)-a3*cos(b2)*sin(b3)*sin(c1)-a3*cos(b3)*sin(b2)*sin(c1)plot3(x,y,z,'*')holdongridontitle('PUMA?ú?÷è?μ?1¤×÷????')(4)PUMA560niyundongxueclearsymstheta1theta2theta3theta4theta5theta6c1c2c3c4c5c6s1s2s3s4s5s6a2a3d2d4d6nxnynzsxsyszaxayazpxpypz;c1=cos(theta1);c2=cos(theta2);c3=cos(theta3);c4=cos(theta4);c5=cos(theta5);c6=co