【机器人学习】UR10机器人轨迹规划+运动空间+分析报告

https://download.csdn.net/download/yjw0911/85382948下载链接

SOLIDWORSKS三维模型

deg = pi/180;

% robot length values (metres)
a = [0, -0.612, -0.5723, 0, 0, 0]';

d = [0.1273, 0, 0, 0.163941, 0.1157, 0.0922]';

alpha = [1.570796327, 0, 0, 1.570796327, -1.570796327, 0]';

theta = zeros(6,1);

DH = [theta d a alpha];

mass = [7.1, 12.7, 4.27, 2.000, 2.000, 0.365];

center_of_mass = [
    0.021, 0, 0.027
    0.38, 0, 0.158
    0.24, 0, 0.068
    0.0, 0.007, 0.018
    0.0, 0.007, 0.018
    0, 0, -0.026  ];    

% 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.

% DH(2).offset(pi/2);
robot = SerialLink(DH, …
‘name’, ‘UR10’, ‘manufacturer’, ‘Universal Robotics’);

运动空间

轨迹规划


代码见下载：
咨询链接：matlab正逆运动学分析与轨迹规划