机器人热仿真利器matlab机器人工具箱演示matlabrobotics-toolbox-demo.pdf

发布时间：2022-05-29 发布人：admin 分类：说明书资料大小：0.87M 资料格式：pdf 举报版权申诉

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一、rtdemo机器人工具箱演示

二、transfermations坐标转换

三、Trajectory齐次方程

四、forward kinematics 运动学正解

四、Animation 动画

五、Inverse Kinematics运动学逆解

六、 Jacobians雅可比---矩阵与速度

七、Inverse Dynamics逆向动力学

八、Forward Dynamics正向动力学

MATLAB ROBOTTOOL rtdemo 演示目录一、rtdemo 机器人工具箱演示.................................................2 二、transfermations 坐标转换................................................... 2 三、Trajectory 齐次方程.............................................................8 四、forward kinematics 运动学正解...................................... 12 四、Animation 动画................................................................. 18 五、Inverse Kinematics 运动学逆解........................................ 23 六、 Jacobians 雅可比---矩阵与速度..................................... 32 七、Inverse Dynamics 逆向动力学.......................................... 45 八、Forward Dynamics 正向动力学.........................................52

一、rtdemo 机器人工具箱演示 >> rtdemo % 二、transfermations 坐标转换 % In the field of robotics there are many possible ways of representing % positions and orientations, but the homogeneous transformation is well % matched to MATLABs powerful tools for matrix manipulation. %

% Homogeneous transformations describe the relationships between Cartesian % coordinate frames in terms of translation and orientation. % A pure translation of 0.5m in the X direction is represented by transl(0.5, 0.0, 0.0) ans = 1.0000 0 0 0 0 1.0000 0 0 0 0 1.0000 0.5000 0 0 0 1.0000 % % a rotation of 90degrees about the Y axis by roty(pi/2) ans = 0.0000 0 1.0000 0 1.0000 0 0 0

-1.0000 0 0 0 0.0000 0 0 1.0000 % % and a rotation of -90degrees about the Z axis by rotz(-pi/2) ans = 0.0000 -1.0000 1.0000 0.0000 0 0 0 0 0 0 1.0000 0 0 0 0 1.0000 % % these may be concatenated by multiplication t = transl(0.5, 0.0, 0.0) * roty(pi/2) * rotz(-pi/2) t = 0.0000 -1.0000 0.0000 0.0000 1.0000 0.5000 0 0

-0.0000 -1.0000 0.0000 0 0 0 0 1.0000 % % If this transformation represented the origin of a new coordinate frame with respect % to the world frame origin (0, 0, 0), that new origin would be t * [0 0 0 1]' given by ans = 0.5000 0 0 1.0000 pause % any key to continue % % the orientation of the new coordinate frame may be expressed in terms of

% Euler angles tr2eul(t) ans = % 0 1.5708 -1.5708 % or roll/pitch/yaw angles tr2rpy(t) ans = -1.5708 0.0000 -1.5708 pause % any key to continue % % It is important to note that tranform multiplication is in general not % commutative as shown by the following example rotx(pi/2) * rotz(-pi/8)

ans = 0.9239 0.3827 0 -0.0000 -0.3827 0.0000 0.9239 -1.0000 0.0000 0 0 0 0 0 0 1.0000 rotz(-pi/8) * rotx(pi/2) ans = 0.9239 0.0000 -0.3827 -0.3827 0.0000 -0.9239 0 0 % % pause % any key to continue echo off 0 0 0 1.0000 0.0000 0 0 1.0000

三、Trajectory 齐次方程 % The path will move the robot from its zero angle pose to the upright (or % READY) pose. % % First create a time vector, completing the motion in 2 seconds with a % sample interval of 56ms. t = [0:.056:2]; pause % hit any key to continue % % A polynomial trajectory between the 2 poses is computed using jtraj() % q = jtraj(qz, qr, t); pause % hit any key to continue % % For this particular trajectory most of the motion is done by joints 2 and 3,

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机器人热仿真利器matlab机器人工具箱演示matlabrobotics-toolbox-demo.pdf

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