六自由度机械臂的建模与MATLAB仿真

Modeling of Six-DOF Manipulatorand MATLAB Simulation

针对六轴机械臂的运动特性,使用D-H法创建各关节坐标系,求得其参数,并推导出正逆运动学方程.使用MATALB Robotics工具箱创建该机械臂的仿真模型,对其正逆运动、轨迹规划进行仿真.通过仿真,在关节空间规划下,求得机械臂模型运动过程中各关节参数随时间变化的关系图.在笛卡儿空间规划下,得到了机械臂末端的直线运动轨迹.通过对比理论数据和仿真结果,验证机械臂模型建立的正确性及正逆运动公式的准确性.

For the motion characteristics of the six-axis manipulator,each joint coordinate system was created by D-H method,its parameters were obtained,and the forward and inverse kinematics equations were derived.The simulation model of the robot arm was created using the MATALB Robotics toolbox,and its forward and backward motion and trajectory planning were simulated.Through simulation,under the joint space planning,the relationship diagram of each joint parameter with time in the motion of the manipulator model was obtained.Under the Cartesian space plan,a linear motion trajectory at the end of the manipulator was obtained.By comparing the theoretical data with the simulation results,the correctness of the establishment of the manipulator model and the accuracy of the forward and inverse motion formula were verified.