DH参数法建立机器人的运动学正解
运用DH参数法时坐标系建立的两个约定:
(1)x_i与z_(i-1)垂直
(2)x_i与z_(i-1)相交
坐标系i与坐标系i-1的其次变换矩阵为:
a为两z轴的距离,d为两x轴的距离。
alpha与theta的正方向约定为:
下面举三个例子:
a、平面二自由度机器人
clear;
clc;
syms theta1 alpha1 a1 d1 theta2 alpha2 a2 d2 a b theta d;
A1=[cos(theta1),-sin(theta1)*cos(alpha1),sin(theta1)*sin(alpha1),a1*cos(theta1);...
sin(theta1),cos(theta1)*cos(alpha1),-cos(theta1)*sin(alpha1),a1*sin(theta1);...
0,sin(alpha1),cos(alpha1),d1;...
0,0,0,1];
A2=[cos(theta2),-sin(theta2)*cos(alpha2),sin(theta2)*sin(alpha2),a2*cos(theta2);...
sin(theta2),cos(theta2)*cos(alpha2),-cos(theta2)*sin(alpha2),a2*sin(theta2);...
0,sin(alpha2),cos(alpha2),d2;