采用Matlab的六自由度机器人三维运动学仿真

对SA1400型六自由度工业机器人进行三维的运动学建模与仿真,建立机器人的正逆运动学方程,并得到正逆解.为验证方程及所求解的正确性,首先,使用Solidworks建立机器人各个部件三维模型;然后,用Matlab将所求得的正逆解编写为程序,导入机器人各部件,利用Matlab的三维绘图功能,以显示机器人的三维模型,并对机器人按轨迹运动的过程进行动态仿真,记录运动过程中机器人各关节角度值的变化,提示求解得到的不合理角度值和奇异点.结果表明:仿真过程较真实地模拟了实际机器人的运动情况,仿真结果达到预期目标,证明根

3D Kinematics Simulation of Six DOF Robot Using Matlab

For the 3D kinematics modeling and simulation of SA1400 six degrees of freedom industrial robot, the robot kinematics equations are established and forward and inverse solutions are got. In order to verify the correctness of the equations and solutions. Firstly, solidworks is used to build 3D model of robot components. Then, forward and inverse solutions are programmed using Matlab, and models of robot components are imported. The 3D graphics functions of Matlab is used to display the 3D model of the robot, and do dynamic simulation of robot trajectory movement, while recording the change in the angle of each joint of robot during the simulation and suggesting irrational angle values and singular points. The results show that the process factually simulates the actual movement of the robot. The simulation results achieve the expected goal, and prove the accuracy and feasibility of solutions obtained from forward and inverse kinematics equations.