基于Matlab的七自由度机械手逆运动学分析及仿真

127201231671—1815201207-1522-04ScienceTechnologyandEngineeringVol.12No.7Mar．20122012Sci.Tech.Engrg.Matlab祎450007Denavit-Hartenberg。RoboticsToolbox。。。RoboticsToolboxTP241A2011112512201957—。。[e-mail]。。。RobotisToolboxPeterI．CorkeMAT-LAB。、、。11.1Denavit-Hartenberg。aiθidiαi。idi。θi1。1。、、、、。。62。12。21D-Hiαi－1ai－1θidi100θ102－pi/20θ2d230a2θ3d340a3θ405pi/20θ506－pi/20θ601.2。Tii+13Tii+1=cθi－sθi0ai－1sθicαi－1cθicαi－1－sαi－1－sαi－1disθisαi－1cθisαi－1cαi－1cαi－1di0001606。T06=T01T12T23T43T54T65=r11r12r13pxr21r22r23pyr31r32r33pz0001。T01=c1－s100s1c10000100001T12=c2－s200001d2s2c2000001T23=c3－s30a2s3c300001d30001T34=c4－s40a3s4c40000100001T45=c5－s50000－10s5c5000001T56=c6－s60000－10s6c6000001。sisinθicicosθi。r11=c1c234c5－s1s5c6－c1s234s6r21=s1c234c5+c1s5c6－s1s234s6r31=－s234c5c6－c234s6r12=c1－c234c5s6－s234c6+s1s5s6r22=s1－c234c5s6－s234c6－c1s5s6r32=s234c5s6－c234c6r13=－c1c234s5－s1c5r23=－s1c234s5+s1c5r33=s234s5px=c1a3c23+c2a2－s1d3+d2py=s1a3c23+c2a2+c1d3+d2pz=－s23a3－s2a2。2iαi－1ai－1θidi100002－pi/2000.2300.400.1400.5005pi/20006－pi/200022.1。。T01－1T06=T16θ1=tan2pyp()x－atan2d1+d2py±1－d1+d2p()y槡[]2T16=T12T26T01－1T06=T16θ3=π+arctans3c()3θ3=arctans3c()3θ6=π+arctans1ox－c1oys1nx－c1n()yθ6=arctans1ox－c1oys1nx－c1n()yθ5=π+arctan±1－s1ax+c1ay槡2－s1ax+c1a()y32517Matlabθ5=arctan±1－s1ax+c1ay槡2－s1ax+c1a()y。T30=T10T21T32T03－1T06=T36θ2=12π+arctansin2θ2+θ3cos2θ2+θ3[]－θ{}3θ2=12arctansin2θ2+θ3cos2θ2+θ3[]－θ{}3θ234=π+arctan－a2c1ax+s1a()yθ234=arctan－a2c1ax+s1a()yθ4=θ234－θ2－θ3。。2.22RoboticsToolbox。drivebot3。Li=Linkαaθdσσ1σ0。L1=link00000L2=link－pi/2000.20L3=link00.400.10L4=link00.5000L5=linkpi/20000L6=link－pi/20000qj=robotL1L2L3L4L5L6qj.name='7－DOFRobot'drivebotqj。RobticsToolboxikinebT=Tab=－0.47130.2161－0.85510.11320.66690.7218－0.18520.72680.5772－0.6575－0.48430.57670001。%3“7—DOFRrobot”4Wb=ikineqjTWb=0.64000.6399－0.95420.8533－0.75230.6981。%1、2、4、6ab0.6400rad、0.6399rad、0.8533rad、0.6981rad3、5ab0.9542rad、0.7523rad4425112。5、6。。53。。RobticsToolbox。。。6、1.Matlab.20059640—6442..20071244—463CraigJJ.Introductiontoroboticsmechanicsandcontrol.CaliforniaPrenticeHallPublications2005InverseKinematicsAnalysisandSimulationofSevenDegreesofFreedomRoboticHandonMatlabNINGYiCHENZhi-lingSchoolofElectronicsandElectricalEngHenanUniversityofTechnologyZhengzhou450007P．R．ChinaAbstractAnalysisofkinematicsandbuildingthemouldonasevendegreesoffreedomDOFrobotichandbytheD-Hmethod.ThentheRoboticsToolboxisusedtoprogramoninversekinematics.Throughthesimulationthedrawingjointmotion-timerelationandtrajectoryoftherobotaregotandtheresultismatchwiththescheduledtar-get．Itverifiesthestepofmotionratecontrolmethodiscorrectandfeasible.Keywords7-DOFroboticshandsimulationinversekinematicsRoboticsToolbox52517Matlab