某四自由度机械臂建模与MATLAB仿真研究

Modeling and simulation of 4-DOF manipulator based on MATLAB

首先,在MATLAB仿真环境下,基于D-H参数模型建立了某四自由度机械臂的连杆模型,并计算出机械臂的齐次变换矩阵。然后,通过Robotics Toolbox仿真工具箱的运用,进行相应的轨迹规划研究与正逆运动学仿真研究,阐述了机械臂运动仿真的一般规律。从仿真结果可知,该文的研究方法对于关节型机械臂的仿真研究具有重要的现实意义。

First,in the MATLAB simulation environment,based on the D-H parameter model methods,we establish a4-DOF manipulator linkage model and calculate its homogeneous transformation matrix.Then,through the use of Robotics Toolbox simulation toolbox,corresponding trajectory planning studies and simulation of forward and inverse inematics,describes the general laws of motion simulation of the robot arm.From the simulation results,the research method has important practical significance for the simulation of an articulated robot arm.