基于MATLAB的合作机器人(Cobot)动力学仿真

Dynamics simulation of Cobot based on MATLAB

合作机器人(Cobot)是能直接与人合作的机器人.为了分析Cobot的动力学性能,应用牛顿-欧拉法,基于MATLAB对四自由度Cobot进行了动力学仿真.推导了Cobot的运动约束方程和动力学方程,构成了Cobot的约束矩阵方程.通过MATLAB函数来求解约束矩阵方程,建立了Cobot的动力学仿真模型,并对Cobot跟踪给定直线进行了仿真分析.仿真结果表明,该仿真模型具有Cobot机器人的特点,可以方便地获得Cobot的动力学参数,为实现机器人的控制及性能改进提供了理论依据.

Collaborative robot (Cobot) is a robot that directly collaborates with human. In order to analyze dynamic performances of a Cobot based on MATLAB, the dynamics simulation of a four-degrees-of-freedom Cobot was completed by applying the Newton-Euler method. Kinematics constraint equations and dynamics equations of the Cobot were given, and the constraint matrix equation of Cobot was constituted. A dynamics simulation model of the Cobot was built up by MATLAB function working out the matrix, and the simulation analysis of the Cobot tracking a straight line was carried out. The simulation results illustrate that the model possesses features of a Cobot, and conveniently acquires dynamics parameters of a Cobot, so it can provide theoretical bases for robot control and performance improvement.