基于Matlab的工业机器人运动学分析与仿真

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为探讨更有效的工业机器人运动学研究方法，以Stanford机械手为研究对象，分析了其结构及连杆参数，采用改进的D―H法建立了各连杆坐标系和结构的运动学方程；利用Matlab的绘图和矩阵计算能力，特别是其RoboticsToolbox模块功能，在Matlab环境下建立了该机械手的运动学模型，验证了运动学方程的正确性。研究结果表明，通过机器人模型的手动控制和轨迹规划仿真可以使机器人运动的研究过程更为直观。 For the purpose of making kinematic researsh on industrial robot more effective, Stanford arm was studied. Structure and link parameters were analyzed, modified form of Denavit-Hartenberg notation was applied in establishing link coordinates and kinematical equation. Matlab and Robotics Toolbox were utilized to configure the arm＇ s kinematic model as the software are excellent in drawing and matrix manupulation, validity of kinematical equation was verified. The results show that, it can visualize motion process by means of manual driving and trajectory planning simulation.