河南科技大学学报：自然科学版

以一个四自由度机器人为例,图示了关节坐标系的设置,建立了机器人的运动学参数和关节的变换矩阵,并通过两个Matlab示例程序介绍了仿真程序的编写方法。最后通过实际仿真应用,探讨了利用Matlab软件完成绘制四自由度机器人的三维运动轨迹,并且通过动画来进行仿真研究的方法,最终通过机器人在笛卡尔空间做直线轨迹运动的截图展示了仿真运行的效果。研究表明,利用Matlab进行软件仿真能够大大地缩短机器人的开发周期,具有非常高的经济效益。

In this paper,by using an example of a 4R manipulator,the set of joint coordinates is showed.D-H parameter model and joint-transformation matrix are set up.Matlab emulation program with two examples is intruduced.How to draw a manipulator’s trajectory and build a 3D animation of the manipulator’s movement with Matlab is discussed.In the end of this article,a snap picture of the animation of the manipulator’s movement based on Cartesian space trajectory planing is showed.The emulation could largely cut off the budget for developing manipulators and save a lot time.