MATLAB机器人仿真程序

传播优秀传播优秀Word附录MATLAB机器人工具箱仿真程序：运动学仿真模型程序〔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’%模型的名称>>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];%产生时间向量qA=[000000];%机械手初始关节角度qAB=[-pi/2-pi/3 0pi/6pi/3pi/2];% 机械手终止关节角度机器人正运动学仿真演示”);%给仿真图像命名q=jtraj(qA,qAB,t);%生成关节运动轨迹T=fkine(r,q);%正向运动学仿真函数plot(r,q);%1/6figure(”Name”,”up6机器人末端位移图”〕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机器人末端轨迹图”);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(”转动关节5”);xlabel(”/s”);ylabel(”/rad”);subplot(6,1,6);plot(t,q(:,6));title(”转动关节6”);xlabel(”/s”);ylabel(”/rad”);机器人各关节转动角速度仿真程序：〔Rob4.m〕t=[0:0.01:10];qA=[000000];%机械手初始关节量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];%产生时间向量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机器人机械手各关节加速度曲线”);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(”关节4”);xlabel(”(s)”);加速度subplot(6,1,5