资源简介

针对移动机械臂运动学,根据D-H方法建模思想,matlab建立机械臂运动学仿真软件。 (2008-03-23, matlab, 655KB, 146次).rar

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代码片段和文件信息

function c = geo(ab)
%GEO(AB) Geometric Operator
%
%        1 - frame = geo(H)
%        2 - H = geo(frame)
%        3 - H = geo(A B)
%
%frame = [X Y Z A B C]; H = Homogeneous Transformation; A = frame or H
%                                                       B = frame or H

%July ~ December 2005 by Reinaldo M. do Nascimento

n=length(a);
if n==6a=H(a);end
if nargin==2;
         if length(b)==6b=H(b);end
            ab=a*b;
            c=ab;
else
            c=a;
         if length(a)==4 & n==4k=0;
                     if isa(a‘sym‘)
                         trya1=double(a(1:31:3));catchk=1;end
                         if k==1c=vts(a);elsec=vt([a1 [0;0;0];0 0 0 1])+vts([eye(3) a(1:34);0 0 0 1]);end
                     else
                         c=vt(a);
                     end
         end
end

%==========================================================================
function c = vt (H)

d(1)=H(14);d(2)=H(24);d(3)=H(34);
if (H(11)==0) & (H(21)==0)
          d(4)=0;
          if H(31)==-1
                   d(5)=pi/2;d(6)=atan2(H(12)H(22));
          else
                   d(5)=-pi/2;d(6)=-atan2(H(12)H(22));
          end
else
          d(4)=atan2(H(21)H(11));
          d(5)=atan2(-H(31)H(11)*cos(d(4))+H(21)*sin(d(4)));
          d(6)=atan2(H(32)H(33));
end
c=d;

%==========================================================================
function c = vts (H)

d(1)=H(14);d(2)=H(24);d(3)=H(34);
d(4)=atan(H(21)H(11));
d(5)=atan(-H(31)H(11)*cos(d(4))+H(21)*sin(d(4)));
d(6)=atan(H(32)H(33));
c=d;

%==========================================================================
function c = H (a)

A=[cos(a(4))-sin(a(4))0;sin(a(4))cos(a(4))0;001];
B=[cos(a(5))0sin(a(5));010;-sin(a(5))0cos(a(5))];
C=[100;0cos(a(6))-sin(a(6));0sin(a(6))cos(a(6))];
XYZ=[a(1);a(2);a(3)];
c=[A*B*CXYZ;0 0 0 1];


 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件      75054  2005-08-03 22:26  Robotic Manipulator Kinematics\scm\bmp\fig_cloos.bmp

     文件     108054  2005-08-02 14:02  Robotic Manipulator Kinematics\scm\bmp\fig_kr100p.bmp

     文件     108054  2005-08-02 11:15  Robotic Manipulator Kinematics\scm\bmp\fig_kr125.bmp

     文件     108054  2005-08-02 14:54  Robotic Manipulator Kinematics\scm\bmp\fig_kr2150.bmp

     文件     102574  2005-08-02 11:23  Robotic Manipulator Kinematics\scm\bmp\fig_onelink.bmp

     文件     176454  2005-08-07 20:11  Robotic Manipulator Kinematics\scm\bmp\fig_puma560.bmp

     文件     153654  2005-12-15 18:01  Robotic Manipulator Kinematics\scm\bmp\fig_puma560x.bmp

     文件      88534  2005-08-03 18:16  Robotic Manipulator Kinematics\scm\bmp\fig_puma600.bmp

     文件     139574  2005-11-03 18:54  Robotic Manipulator Kinematics\scm\bmp\fig_scara.bmp

     文件      79254  2005-08-08 19:39  Robotic Manipulator Kinematics\scm\bmp\fig_scorbot.bmp

     文件     102654  2005-08-02 22:12  Robotic Manipulator Kinematics\scm\bmp\fig_stanford.bmp

     文件     121214  2005-08-02 11:35  Robotic Manipulator Kinematics\scm\bmp\fig_twolink.bmp

     文件     107414  2005-08-02 12:13  Robotic Manipulator Kinematics\scm\bmp\fig_uw.bmp

    ..A.SH.     36352  2005-08-12 21:59  Robotic Manipulator Kinematics\scm\bmp\Thumbs.db

    ..AD...         0  2007-09-28 19:18  Robotic Manipulator Kinematics\scm\bmp

     文件       3610  2006-02-25 22:30  Robotic Manipulator Kinematics\scm\dhconv.M

     文件     328274  2006-02-21 12:53  Robotic Manipulator Kinematics\scm\Doc\Scm_Tut_E.pdf

     文件     328917  2006-02-21 10:07  Robotic Manipulator Kinematics\scm\Doc\Scm_Tut_P.pdf

    ..AD...         0  2007-09-28 19:18  Robotic Manipulator Kinematics\scm\Doc

     文件       1952  2006-02-25 22:29  Robotic Manipulator Kinematics\scm\geo.m

     文件        897  2006-02-25 22:29  Robotic Manipulator Kinematics\scm\h2j.m

     文件        394  2006-02-25 22:29  Robotic Manipulator Kinematics\scm\hrx.m

     文件        401  2006-02-25 22:28  Robotic Manipulator Kinematics\scm\hry.m

     文件        401  2006-02-25 22:28  Robotic Manipulator Kinematics\scm\hrz.m

     文件        180  2006-02-25 22:28  Robotic Manipulator Kinematics\scm\htx.m

     文件        180  2006-02-25 22:28  Robotic Manipulator Kinematics\scm\hty.m

     文件        180  2006-02-25 22:28  Robotic Manipulator Kinematics\scm\htz.m

     文件        553  2006-02-25 22:27  Robotic Manipulator Kinematics\scm\ik2q.m

     文件       2585  2006-02-21 20:18  Robotic Manipulator Kinematics\scm\Models\scm_cloos.m

     文件       2269  2006-02-25 19:25  Robotic Manipulator Kinematics\scm\Models\scm_kr100p.m

............此处省略29个文件信息

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