matlab机器人轨迹规划仿真程序,基于MATLAB_Robotics工具箱的工业机器人轨迹规划及仿真研究...

【实例简介】

基于MATLAB_Robotics工具箱的工业机器人轨迹规划及仿真研究

//CAD/CAM/CAE/ CAPP MANUFACTURING INF(

ti=i:025:1+1

i=0:3:30

Ti T

length I

40

T1=0102025.50010100-2300001%

O0I

T2=0102025.500Ii:Il100-2300001%

r I-

101520253035

0.70

ta=0:012’%

q i =kine hithd Ta055

Ta=ctra tI T2 length ta

ikine hithd ta o

subplot 3 1

subplot

a q

label Timc s

label Juiril 1

subplot 3 1 2

ylabel Joint 2 rad

tbplot 3 1 3

MATLAB-Robotics

incinnati T3

label time s

746

ylabel Joint 3 rad

0.02

0

plot hilh g %n

MATLAB

0.2040.60.81.01.2141.51.82

view 40 50 sc

0.20.40.60.81.01.21.41.618

pause

Cincinnati 3-746

drivebot hithd Co

00.2540.6(.81.01.21.41.61.82

CORKE P. Machine Vision Toolbox J. IEEE Robotics and

6

Aulowalion 2005 12 16-25

M

CINCINNATI

2005

MATLAB ADAMS

2010493-95.

Ⅵ ATLAH

CINCINNATI MILACRON T< 3>

2022530

2005

alpha=0: pi/80: 2*pi %0

6

R=30%

20104188-190

1=2022.5+R*sin alpha

b1=30-R*cos alpha y

198

Ti=010al:i00lbl:i100-2300001%

fori=1:1:40

2011-04-27

201

783

C1994-2011ChinaAcademicJOurnalElectronicPublishingHouse.Allrightsreservedhttp://www.cnki.net

【实例截图】

【核心代码】