【Matlab——机器人工具箱——学习笔记】六轴协作机器人运动学模型01

参考：

1、机器人正逆运动学分析（ABB-IRB2600）：https://blog.csdn.net/weixin_44266983/article/details/106159306

2、Matlab机器人工具箱（番外篇）———机器人建立的任意方法：https://blog.csdn.net/weixin_43502392/article/details/105654578?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522162027315016780265488838%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=162027315016780265488838&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_v2~rank_v29-13-105654578.first_rank_v2_pc_rank_v29&utm_term=matlab%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%B7%A5%E5%85%B7%E7%AE%B1%E5%B9%B3%E7%A7%BB%E5%85%B3%E8%8A%82

3、MATLAB机器人工具箱【1】——建模+正逆运动学+雅克比矩阵：https://blog.csdn.net/huangjunsheng123/article/details/110630665?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522162019885916780357239484%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=162019885916780357239484&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduend~default-1-110630665.first_rank_v2_pc_rank_v29&utm_term=matlab%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%B7%A5%E5%85%B7%E7%AE%B1%E6%AD%A3%E9%80%86%E8%BF%90%E5%8A%A8%E5%AD%A6

4、Matlab机器人工具箱机械手建模详解（同知乎）：https://blog.csdn.net/u011661537/article/details/80397628

5、详细介绍如何使用MATLAB中的机器人工具箱建立机器人模型（DH法建模）（机械臂）：https://blog.csdn.net/qq_44339029/article/details/109708454?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522162028887416780264099691%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=162028887416780264099691&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_v2~rank_v29-20-109708454.first_rank_v2_pc_rank_v29&utm_term=matlab%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%B7%A5%E5%85%B7%E7%A7%BB%E5%8A%A8

 6、Matlab机器人工具箱（1）——机器人的建立、绘制与正逆运动学：https://blog.csdn.net/weixin_43502392/article/details/105447785

正文：

建立一个ABB-IRB2600运动学模型：通过两种方法，一种是使用Link函数，第二种方法是列出D-H参数表进行参数进行对照验证：

 

D-H表：

matlab代码：

%robot_test03.m
clear ; clc; close all;
d1 = 445;
d2 = 0;
d3 = 0;
d4 = 785;
d5 = 0;
d6 = 85;

a1 = 0;
a2 = 150;
a3 = -700;
a4 = -115;
a5 = 0;
a6 = 0;

alpha1 = 0 * pi;
alpha2 = (-90/180) * pi;
alpha3 = (0/180) * pi;
alpha4 = (90/180) * pi;
alpha5 = (-90/180) * pi;
alpha6 = (90/180) * pi;
% 机器人各连杆参数值

D=[d1,d2,d3,d4,d5,d6];
A=[a1,a2,a3,a4,a5,a6];
AlPHA=[alpha1,alpha2,alpha3,alpha4,alpha5,alpha6];
N = AlPHA(2);

% 建立连杆DH参数（修正的DH）
L(1)=Link([0 D(1) A(1) AlPHA(1)], 'modified'); L(1).qlim=[-pi,pi];
L(2)=Link([0 D(2) A(2) AlPHA(2)], 'modified'); L(2).qlim=[pi/8,pi*(1-0.2)];
% L(2).offset = pi/2;
L(3)=Link([0 D(3) A(3) AlPHA(3)], 'modified'); L(3).qlim=[-pi,pi];
L(4)=Link([0 D(4) A(4) AlPHA(4)], 'modified'); L(4).qlim=[-pi,pi];
L(5)=Link([0 D(5) A(5) AlPHA(5)], 'modified'); L(5).qlim=[-pi,pi];
L(6)=Link([0 D(6) A(6) AlPHA(6)], 'modified'); L(6).qlim=[-pi,pi];

T_sum = ChengABB_2600_fk(-pi/2,pi/2,pi/3,pi/4,pi/5,pi/6);

% 定义机器人
ABB_Cheng=SerialLink(L(1:6),'name','ABB-IRB2600');
ABB_Cheng.tool = transl(0,0,100);
ABB_Cheng.teach();
T0_6 = ABB_Cheng.fkine([-pi/2 pi/2 pi/3 pi/4 pi/5 pi/6]);

 

%ChengABB_2600_fk.m
function T06 = ChengABB_2600_fk(theta1,theta2,theta3,theta4,theta5,theta6)
%UNTITLED4 此处显示有关此函数的摘要
%   此处显示详细说明
    d1 = 445;
    d2 = 0;
    d3 = 0;
    d4 = 785;
    d5 = 0;
    d6 = 85;

    a1 = 0;
    a2 = 150;
    a3 = -700;
    a4 = -115;
    a5 = 0;
    a6 = 0;

    alpha1 = 0 * pi;
    alpha2 = (-90/180) * pi;
    alpha3 = (0/180) * pi;
    alpha4 = (90/180) * pi;
    alpha5 = (-90/180) * pi;
    alpha6 = (90/180) * pi;
% GenT(theta_i,alpha_1i,a_1i,d_i) 
% theta_i,alpha_i-1,a_i-1,d_i
        function T = GenT(theta_i,alpha_1i,a_1i,d_i)
        %UNTITLED4 此处显示有关此函数的摘要
        T   = [cos(theta_i)                 -sin(theta_i)                      0                         a_1i;
               sin(theta_i)*cos(alpha_1i)   cos(theta_i)*cos(alpha_1i)         -sin(alpha_1i)            -sin(alpha_1i)*d_i;
               sin(theta_i)*sin(alpha_1i)   cos(theta_i)*sin(alpha_1i)         cos(alpha_1i)             cos(alpha_1i)*d_i;
               0                            0                                  0                         1                ];
        end
    T01 = GenT(theta1,alpha1,a1,d1);

    T12 = GenT(theta2,alpha2,a2,d2);

    T23 = GenT(theta3,alpha3,a3,d3);

    T34 = GenT(theta4,alpha4,a4,d4);

    T45 = GenT(theta5,alpha5,a5,d5);

    T56 = GenT(theta6,alpha6,a6,d6);

    T06 = T01*T12*T23*T34*T45*T56;

end

 

结果比对：

使用机器人工具箱求运动学模型结果：

使用自己写转换矩阵进行运动学模型的建立：

大家可以看到，转换矩阵确实一样。