robotic toolbox for matlab
宸ュ叿绠?/p>
1. PUMA560
鐨?/p>
MATLAB
浠跨湡
瑕佸缓绔?/p>
PUMA560
鐨勬満鍣ㄤ汉瀵硅薄锛岄鍏堟垜浠浜嗚В
PUMA560
鐨?/p>
D-H
鍙傛暟锛?/p>
涔嬪悗鎴戜滑鍙互鍒╃敤
Robotics Toolbox
宸ュ叿绠变腑鐨?/p>
link
鍜?/p>
robot
鍑芥暟鏉ュ缓绔?/p>
PUMA560
鐨勬満鍣ㄤ汉瀵硅薄銆?/p>
鍏朵腑
link
鍑芥暟鐨勮皟鐢ㄦ牸寮忥細
L = LINK([alpha A theta D])
L =LINK([alpha A theta D sigma])
L =LINK([alpha A theta D sigma offset])
L =LINK([alpha A theta D], CONVENTION)
L =LINK([alpha A theta D sigma], CONVENTION)
L =LINK([alpha A theta D sigma offset], CONVENTION)
鍙傛暟
CONVENTION
鍙互鍙栤�?/p>
standard
鈥欏拰鈥?/p>
modified
鈥欙紝鍏朵腑鈥?/p>
standard
鈥欎唬琛?/p>
閲囩敤鏍囧噯鐨?/p>
D-H
鍙傛暟锛屸�?/p>
modified
鈥欎唬琛ㄩ噰鐢ㄦ敼杩涚殑
D-H
鍙傛暟銆傚弬鏁扳�?/p>
alpha
鈥?/p>
浠ｈ〃鎵浆瑙?/p>
锛屽弬鏁扳�?/p>
A
鈥欎唬琛ㄦ潌浠堕暱搴︼紝鍙傛暟鈥?/p>
theta
鈥欎唬琛ㄥ叧鑺傝锛屽弬鏁扳�?/p>
D
鈥?/p>
浠ｈ〃妯窛锛屽弬鏁扳�?/p>
sigma
鈥欎唬琛ㄥ叧鑺傜被鍨嬶細
0
浠ｈ〃鏃嬭浆鍏宠妭锛岄潪
0
浠ｈ〃绉诲姩鍏宠妭銆?/p>
鍙﹀
LINK
杩樻湁涓�浜涙暟鎹煙锛?/p>
LINK.alpha
%
杩斿洖鎵浆瑙?/p>
LINK.A
%
杩斿洖鏉嗕欢闀垮害
LINK.theta
%
杩斿洖鍏宠妭瑙?/p>
LINK.D
%
杩斿洖妯窛
LINK.sigma
%
杩斿洖鍏宠妭绫诲瀷
LINK.RP
%
杩斿洖鈥?/p>
R
鈥?/p>
(
鏃嬭浆
)
鎴栤�?/p>
P
鈥?/p>
(
绉诲姩
)
LINK.mdh
%
鑻ヤ负鏍囧噯
D-H
鍙傛暟杩斿洖
0
锛屽惁鍒欒繑鍥?/p>
1
LINK.offset
%
杩斿洖鍏宠妭鍙橀噺鍋忕Щ
LINK.qlim
%
杩斿洖鍏宠妭鍙橀噺鐨勪笂涓嬮檺
[min max]
LINK.islimit(q)
%
濡傛灉鍏宠妭鍙橀噺瓒呴檺锛岃繑鍥?/p>
-1, 0, +1
LINK.I
%
杩斿洖涓�涓?/p>
3
脳
3
瀵圭О鎯�х煩闃?/p>
LINK.m
%
杩斿洖鍏宠妭璐ㄩ噺