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Description: 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。-For mobile manipulator kinematics, in accordance with DH modeling methods, matlab establishment of manipulator kinematics simulation software.
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Size: 670720 |
Author: 史先鹏 |
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Description: The robot currently moves with kinematic control using direct input of joint angles and slider bars (GUI). Some inverse kinematics options are built in but not automated yet (a demo button). A random input is also provided and the robot animates between locations.
There are just two files to use. The main program and the six 3D-links data file that is read in at start up.
-The robot currently moves with kinematic control using direct input of joint angles and slider bars (GUI). Some inverse kinematics options are built in but not automated yet (a demo button). A random input is also provided and the robot animates between locations.
There are just two files to use. The main program and the six 3D-links data file that is read in at start up.
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Size: 53248 |
Author: Serena |
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Description: 讨论了一种六自由度排爆机械手运动学问题，利用D－H坐标变换方法来建立了机械手的运动学数学模型和目标矩阵，利用 MATLAB 强大的符号运算功能，对方程进行求解，得出正逆运动学的解。通过正运动学的解，可以得出了
解机械手各关节在执行任务时的运动轨迹；而逆运动学的解则可以求出机械手要到达某一位姿机械手各关节的扭角。运动学分析也为今后实现机械手的自动控制提供了设计参数。 -A kinematics promble of a 6-DOF bomb-disposing manipulator was discussed in this paper.The kinematics algorithm model and target matrix were established by D-H coordinate exchange.And then obverse and inverse kinamatics calculates were
obtained by MATLAB depending on its excellent capability for symbolic math prombles . The trajectory of manipulator arms
could be obtained by the result of obverse kinamatics when manipulator worked,and also torsional angles could be obtained by
the result of inverse kinamatics when manipulator arrivalled certain pose. Parameters were provided by kinematics analysis for automatic controlling manipulator.
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Size: 992256 |
Author: 何立 |
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Description: 为了在轨迹规划阶段提高月球车在三维地形中的轨迹规划精度，以被动关节式地形自适应月球车为研
究对象，融合关节机器人D-H 坐标建模方法构建月球车悬架运动学模型，结合数值求解方法，推导了任意崎岖
三维地形中月球车姿态估计模型。在模型估计基础上利用参数化控制原理，建立了满足约束条件下被动关节式
月球车在任意地形中的基于模型估计的一般性参数化轨迹生成模型。针对轮式月球车的非完整性特点，结合数
值求解方法，推导了非线性模型的求解方法。最后利用仿真方法，以八轮摇杆摇臂关节式月球车为例，验证了崎
岖地形中基于模型估计的轨迹生成方法的正确性，且可提高关节式月球车在崎岖地形中的规划精度-In order to improve precision of trajectory generation for rover on three dimensional rough terrain during trajectory
generation phase，based on the study of passive articulated rover and D-H kinematics model method of manipulator，this paper
presented the kinematics of the suspension frame． Using this complete suspension kinematics model and the numerical solving
method，it constructed the kinematical observer’s estimation of passive articulated rover on arbitrary rough terrain． On the basis
of this estimation of model，using principle of parameterized control，constructed an adaptive trajectory generation model for passive
articulated rover on arbitrary rough terrain which satisfied arbitrary constraints． According to nonholonomic characterization
of the model，presented the numerical solving method of this nonlinear model． To demonstrate this trajectory generation method，
presented an example about two torsion-bar rocker-bogie rover with eight wheels． Simulation results show that t
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Size: 750592 |
Author: cp |
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Description: 机器人学课程中运动学部分关于D-H参数的动画演示，附含源代码！-Robotics courses kinematics animation on the DH parameters attached with source code!
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Size: 532480 |
Author: 孙爱 |
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Description: This code calculates the forward and inverse kinematics of Stanford Robot using H-D representation.
Watch up for singularity in results-This code calculates the forward and inverse kinematics of Stanford Robot using H-D representation.
Watch up for singularity in results..!!
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Size: 509952 |
Author: Asia Al-Busaidi |
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Description: 机器人正逆运动学求解，不同于教科书上的D-H方法的一种全新的更加直观便于理解的方法，不仅文档详细论证而且程序动画仿真演示。-Robot forward and inverse kinematics, differ one kind of D-H method textbook on the new method more intuitive and easy to understand, not only the document in detail and procedural animation demonstration simulation demonstration.
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Size: 1652736 |
Author: vc |
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Description: 以仿人机器人为研究对象，着重设计了三个自由度的机器人手臂控制系统。首先采用Ｄ－H和齐次变换矩阵建立了机器人运动学模型，推导出了机器人运动学方程正、逆解的表达式。利用matlab编程和simulink仿真分析了机器人控制系统的性能，得到的运动曲线可为机器人的工作规划和仿人机器人整机控制提供参考。(Taking humanoid robot as the research object, three degrees of freedom robot arm control system is designed. Firstly, the kinematics model of robot is established by using D H and homogeneous transformation matrix, and the expression of Fang Chengzheng and inverse solution of robot kinematics is derived. The performance of the robot control system is analyzed by MATLAB programming and Simulink simulation. The obtained motion curve can provide reference for the robot's work planning and humanoid robot control.)
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Size: 46080 |
Author: 云阁 |
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Description: 以 K
R100-2PA 码垛机器人为研究对象，分析了机器人运动学基础问题。利用
D-H
法建立了码垛机器人连杆坐标系及数学模型，并对码垛机器人进行了正逆运动学分
析。根据齐次变换矩阵推导出机器人末端吸盘手爪运动参数方程，并利用数值法与
MATLAB 对机器人末端手爪的运动空间进行了仿真分析，这对作业现场布置，及对
其它可实现的任务空间提供了一定的理论基础(With K
R100-2PA palletizing robot is the research object, and the kinematics basic problem of robot is analyzed. utilize
D-H
The coordinate system and mathematical model of the palletizing robot were established, and the forward and inverse kinematics credits of the palletizing robot were carried out.
Analysis. Based on the homogeneous transformation matrix, the motion parameters equation of the robot's end sucker claw is derived.
MATLAB simulated and analyzed the movement space of the robot's end gripper, which is the layout of the job site.
Other available task spaces provide a theoretical basis.)
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Size: 6191104 |
Author: 乌哈 |
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Description: 应用D-H法对五自由度机器人进行运动学建模，建立末端位置与各关节转角之间的关系，并在MATLAB/Simulink中建立正运动学模型。将ADAMS运动仿真中各关节的运动函数导出作为Simulink模型的输入，得到末端在x、y方向上的位移曲线，并进行了合成，得出手爪的直线运动轨迹，与ADAMS的运动学仿真分析的结果进行了对比分析。(The D-H method is used to model the kinematics of five degrees of freedom robot, and the relationship between the end position and the angle of each joint is established, and a positive kinematics model is established in the MATLAB/Simulink. The motion function of each joint in the ADAMS motion simulation is derived as the input of the Simulink model, and the displacement curve of the terminal in the direction of X and Y is obtained, and the line motion of the hand is obtained. The results of the kinematic simulation analysis of the ADAMS are compared and analyzed.)
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Size: 339968 |
Author: stlu2008 |
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Description: 该文件包括UR五轴机器人运动学控制正逆解的Matlab程序(The file includes the Matlab program of UR five axis robot kinematics control.)
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Size: 185344 |
Author: 绛衣共雪尘 |
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Description: The kinematics of ABB IRB 1200 robot is modeled by D-H parameters. The pose matrix of the end coordinate system of the robot relative to the base coordinate system can be obtained by calculation.
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Size: 487 |
Author: 437203103@qq.com |
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Description: 采用D-H法建立了多自由度机械臂末端执行器相对于基础坐标系的位置与姿态，即多自由度机械臂的正运动学模型。其次对多自由度机械臂的逆运动学模型进行了分析。最后通过采用Langrange法对多自由度机械臂的动力学进行了建模，并对多自由度机械臂的动力学模型及其特点进行了分析。 针对多自由度机械臂数学模型的不确定性问题，提出一种基于RBF神经网络的机械臂自适应控制方法。(The position and attitude of the end effector of the multi DOF Manipulator relative to the basic coordinate system is established by using the D-H method, that is, the forward kinematics model of the multi DOF Manipulator. Secondly, the inverse kinematics model of multi DOF Manipulator is analyzed. In the end, the dynamics model of the multi degree of freedom manipulator is established by using the Langrange method, and the dynamics model and characteristics of the multi degree of freedom manipulator are analyzed. Aiming at the uncertainty of the mathematical model of the multi degree of freedom manipulator, an adaptive control method based on RBF neural network is proposed.)
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Size: 31744 |
Author: 又又ya |
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