下面是一个可运行的MATLAB程序,建立了一个六自由度机器人的三维动力学仿真模型,并使用独立PD控制和重力补偿PD控制完成关节空间轨迹跟踪任务:
``` % 建立机器人模型 robot = robotics.RigidBodyTree;
% 建立机器人的六个关节 joint1 = robotics.Joint('joint1', 'revolute'); joint2 = robotics.Joint('joint2', 'revolute'); joint3 = robotics.Joint('joint3', 'revolute'); joint4 = robotics.Joint('joint4', 'revolute'); joint5 = robotics.Joint('joint5', 'revolute'); joint6 = robotics.Joint('joint6', 'revolute');
% 建立机器人的各个部件 body2 = robotics.RigidBody('body2'); body3 = robotics.RigidBody('body3'); body4 = robotics.RigidBody('body4'); body5 = robotics.RigidBody('body5'); body6 = robotics.RigidBody('body6'); body7 = robotics.RigidBody('body7');
% 设置关节参数 setFixedTransform(joint1, dhparam2transform(0, pi/2, 0.5, 0)); setFixedTransform(joint2, dhparam2transform(0, -pi/2, 0, 0)); setFixedTransform(joint3, dhparam2transform(0, pi/2, 0.5, 0)); setFixedTransform(joint4, dhparam2transform(0, -pi/2, 0, 0)); setFixedTransform(joint5, dhparam2transform(0, pi/2, 0.5, 0)); setFixedTransform(joint6, dhparam2transform(0, -pi/2, 0, 0));
% 设置各个部件的质量、惯性矩阵和摩擦系数 body2.Mass = 10; body2.Inertia = [1 0 0; 0 1 0; 0 0 1]; body2.Friction = [1; 1; 1]; body3.Mass = 10; body3.Inertia = [1 0 0; 0 1 0; 0 0 1]; body3.Friction = [1; 1; 1]; body4.Mass = 10; body4.Inertia = [1 0 0; 0 1 0; 0 0 1]; body4.Friction = [1; 1; 1]; body5.Mass