基于Matlab的机器人轨迹仿真及关节控制

Robot trajectory simulation and joint control based on Matlab

首先根据标准D-H参数法建立六关节臂型机器人的连杆坐标系,推导出运动学正解和逆解的方程,然后在Matlab中搭建了机器人仿真模型。运用Matlab机器人工具箱分别从关节空间和笛卡尔空间两方面进行机器人轨迹规划仿真,并基于关节空间生成的轨迹数据实现了机器人关节硬件在环控制和轨迹实时跟随。实验结果表明,该模型可以准确地实现机器人关节轨迹控制,其为机器人控制开拓了新的道路。

Firstly,according to the standard D-H parameter method,the linkage coordinate system of six-joint arm robot is established,then the forward and inverse kinematics equations are derived,and the simulation model of the robot is built in Matlab. The trajectory planning and simulation of the robot are carried out in the joint space and Cartesian space respectively by using the Matlab robot toolbox. Based on the trajectory data generated in the joint space,the hardware control of the robot joint in the loop and the real-time tracking of the trajectory are realized. The experimental results show that the model can accurately realize the trajectory control of robot joints,which opens up a new way for robot control.