UR5e机器人动力学

FL17171314

已于 2025-04-24 11:41:20 修改

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文章标签：机器人

于 2025-04-18 15:07:38 首次发布

本文链接：https://blog.csdn.net/weixin_51367832/article/details/147285709

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机器人动力学研究力与运动之间的关系，核心目标是建立关节力矩与关节位置、速度、加速度的数学关系。动力学模型通常分为：

正向动力学：已知关节力矩，计算末端执行器的运动（加速度）。
逆向动力学：已知期望的运动（位置、速度、加速度），计算所需的关节力矩。

function r = mdl_ur5()
    
    deg = pi/180;
    
    % robot length values (metres)
    a = [0, -0.42500, -0.39225, 0, 0, 0]';

    d = [0.089459, 0, 0, 0.10915, 0.09465, 0.0823]';

    alpha = [1.570796327, 0, 0, 1.570796327, -1.570796327, 0]';
    
    theta = zeros(6,1);
    
    DH = [theta d a alpha];

    mass = [3.7000, 8.3930, 2.33, 1.2190, 1.2190, 0.1897];

    center_of_mass = [
        0,-0.02561, 0.00193
        0.2125, 0, 0.11336
        0.15, 0, 0.0265
        0, -0.0018, 0.01634
        0, -0.0018, 0.01634
        0, 0, -0.001159];
    
    
    % and build a serial link manipulator
    
    % offsets from the table on page 4, "Mico" angles are the passed joint
    % angles.  "DH Algo" are the result after adding the joint angle offset.

    robot = SerialLink(DH, ...
        'name', 'UR5', 'manufacturer', 'Universal Robotics');
    
    % add the mass data, no inertia available
    links = robot.links;
    for i=1:6
        links(i).m = mass(i);
        links(i).r = center_of_mass(i,:);
    end
    
    links(1).I = diag([0.010267495893,0.010267495893,0.00666]);
    links(2).I = diag([0.22689067591,0.22689067591 ,0.0151074]);
    links(3).I = diag([0.049443313556,0.049443313556,0.004095]);
    links(4).I = diag([0.111172755531,0.111172755531,0.21942]);
    links(5).I = diag([0.111172755531,0.111172755531,0.21942]);
    links(6).I = diag([0.0171364731454,0.0171364731454,0.033822]);
    
     links(1).Jm = 33e-6;
     links(2).Jm = 33e-6;
     links(3).Jm = 33e-6;
     links(4).Jm = 33e-6;
     links(5).Jm = 33e-6;
     links(6).Jm = 33e-6;
     links(1).qlim = [-180 180]*deg;
     links(2).qlim = [-180 180]*deg;
     links(3).qlim = [-180 180]*deg;
     links(4).qlim = [-180 180]*deg;
     links(5).qlim = [-180 180]*deg;
     links(6).qlim = [-180 180]*deg;

    
    % place the variables into the global workspace
    if nargin == 1
        r = robot;
    elseif nargin == 0
        assignin('caller', 'ur5', robot);
        assignin('caller', 'qz', [0 0 0 0 0 0]); % zero angles
        assignin('caller', 'qr', [180 0 0 0 90 0]*deg); % vertical pose as per Fig 2
    end
end

% 定义 UR5e 各关节的 DH 参数（标准 DH 模型）
L1 = Link([0 0.1625 0 pi/2], 'standard');
L2 = Link([0 0 -0.425 0], 'standard');
L3 = Link([0 0 -0.3922 0], 'standard');
L4 = Link([0 0.1333 0 pi/2], 'standard');
L5 = Link([0 0.0997 0 -pi/2], 'standard');
L6 = Link([0 0.0996 0 0], 'standard');

% 创建 UR5e 机器人对象
ur5e = SerialLink([L1 L2 L3 L4 L5 L6], 'name', 'UR5e');

% 进入可视化示教模式
ur5e.teach();