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