matlab机器人工具箱matlabrobotics_toolbox_demo

MATLAB ROBOTTOOL

rtdemo演示

目录

一、rtdemo机器人工具箱演示 (2)

二、transfermations坐标转换 (2)

三、Trajectory齐次方程 (8)

四、forward kinematics 运动学正解 (12)

四、Animation 动画 (18)

五、Inverse Kinematics运动学逆解 (23)

六、Jacobians雅可比---矩阵与速度 (32)

七、Inverse Dynamics逆向动力学 (45)

八、Forward Dynamics正向动力学 (52)

一、rtdemo机器人工具箱演示

>> rtdemo

%

二、transfermations坐标转换

% In the field of robotics there are many possible ways of representing

% positions and orientations, but the homogeneous transformation is well

% matched to MATLABs powerful tools for matrix manipulation. %

% Homogeneous transformations describe the relationships between Cartesian

% coordinate frames in terms of translation and orientation.

% A pure translation of 0.5m in the X direction is represented by

transl(0.5, 0.0, 0.0)

ans =

1.0000 0 0 0.5000

0 1.0000 0 0

0 0 1.0000 0

0 0 0 1.0000

%

% a rotation of 90degrees about the Y axis by

roty(pi/2)

ans =

0.0000 0 1.0000 0

0 1.0000 0 0

0 0 0 1.0000

%

% and a rotation of -90degrees about the Z axis by rotz(-pi/2)

ans =

0.0000 1.0000 0 0

-1.0000 0.0000 0 0

0 0 1.0000 0

0 0 0 1.0000

%

% these may be concatenated by multiplication t = transl(0.5, 0.0, 0.0) * roty(pi/2) * rotz(-pi/2)

t =

0.0000 0.0000 1.0000 0.5000

-1.0000 0.0000 0 0

0 0 0 1.0000

%

% If this transformation represented the origin of a new coordinate frame with respect

% to the world frame origin (0, 0, 0), that new origin would be given by

t * [0 0 0 1]'

ans =

0.5000

1.0000

pause % any key to continue

%

% the orientation of the new coordinate frame may be expressed in terms of

% Euler angles

tr2eul(t)

ans =

0 1.5708 -1.5708

%

% or roll/pitch/yaw angles

tr2rpy(t)

ans =

-1.5708 0.0000 -1.5708

pause % any key to continue

%

% It is important to note that tranform multiplication is in general not

% commutative as shown by the following example

rotx(pi/2) * rotz(-pi/8)

ans =

0.9239 0.3827 0 0

-0.0000 0.0000 -1.0000 0

-0.3827 0.9239 0.0000 0

0 0 0 1.0000

rotz(-pi/8) * rotx(pi/2)

ans =

0.9239 0.0000 -0.3827 0

-0.3827 0.0000 -0.9239 0

0 1.0000 0.0000 0

0 0 0 1.0000

%

%

pause % any key to continue

echo off

三、Trajectory齐次方程

% The path will move the robot from its zero angle pose to the upright (or

% READY) pose.

%

% First create a time vector, completing the motion in 2 seconds with a

% sample interval of 56ms.

t = [0:.056:2];

pause % hit any key to continue

%

% A polynomial trajectory between the 2 poses is computed using jtraj()

%

q = jtraj(qz, qr, t);

pause % hit any key to continue

%

% For this particular trajectory most of the motion is done by joints 2 and 3,