基于MATLAB的puma560型机器人的仿真
自121 成佳宇
摘要:本文针对PUMA560型机器人,分析了它的正运动学、逆运动学和轨迹规划问题,并在MATLAB环境下,利用机器人仿真工具箱(Robotics Toolbox)对该机器人进行了建模。同时仿真了正运动学和逆运动学求解和轨迹规划,并观察了各关节运动,得到所需的数据。说明了所设计的参数是正确的,从而能够达到预定的目标。
关键字:puma560机器人;运动学;MATLAB Robotics Toolbox;仿真
Abstract Based on PUMA560 robot, this article analyzes its forward kinematics and inverse kinematics and trajectory planning problem. and in the MATLAB environment, the robot simulation toolkit modeling for the robot. And simulation the forward kinematics and inverse kinematics and trajectory planning as well, observe the movement of each joint, we can get the required data. Shows the designed parameters are correct, so that they can reach a predetermined target. Keyword:PUMA560 robot;kinematics;MATLAB Robotics Toolbox;simulation
引言
机器人仿真利用计算机可视化和面向对象的手段,模拟机器人的