基于MATLAB/Simulink的机器人运动学仿真

Kinematics simulation of robots based on MATLAB/Simulink

利用MATLAB/Simulink仿真软件对机器人的运动学仿真进行研究,提出基于机构仿真工具SimMechanics的运动学仿真和基于MATLAB函数的运动学仿真,并以平面两关节机器人为例比较了各自的特点。这两种仿真方法对于复杂多关节机器人也同样适用。

Kinematics simulations of robots were studied by MATLAB/Simulink simulation software.Kinematics simulations based on mechanism simulation tool SimMechanics and on MATLAB function were put forward,and their features compared for two joints robot as an example.The two methods can also be used in application to multiple joints robots.