基于Matlab机器人工具箱对Dobot机械臂的研究

clc; clear all; % theta d a alpha L1 = Link([0 1.38 0 pi/2]); L2 = Link([0 0 1.35 0]); L3 = Link([0 0 1.47 pi/2]); L4 = Link([0 0 0 0]); % Define the range of joint angles L1.qlim = [deg2rad(-90) deg2rad(90)]; L2.qlim = [deg2rad(-30) deg2rad(55)]; L3.qlim = [deg2rad(-40) deg2rad(60)]; L4.qlim = [deg2rad(-90) deg2rad(90)]; L1.offset = pi; L2.offset = 2*pi/3; L3.offset = pi/2; % Connecting link% dobot = SerialLink([L1 L2 L3 L4],'name','Dobot'); dobot.teach(); % Set five points in space T1=transl(2,0,2.38); T2=transl(2.5,1,1.13); T3=transl(2,-1.5,2.38); T4=transl(2,-1.5,1.13); T5=transl(2.6,0,1.38); % straight lines between points TT0=ctraj(T1,T2,50); TT1=ctraj(T2,T3,50); TT2=ctraj(T3,T4,50); TT3=ctraj(T4,T5,50); % Using the transl function to find the position information in the transformation matrix Tj0=transl(TT0); Tj1=transl(TT1); Tj2=transl(TT2); Tj3=transl(TT3); % Merger all trajectories Tj=[Tj0;Tj1;Tj2;Tj3]; qq = mstraj(Tj,[1,1,1],[],[],1,10); TTT=transl(qq); plot(qq) plot3(Tj(:,1),Tj(:,2),Tj(:,3),'r','linewidth',3);%Show end trajectory grid on; % Define the size of the 3D space (range of X Y Z) axis([-5 5 -5 5 -6 6]); % Convert trajectory points into dobot joint angles using the inverse solution function q0 = dobot.ikine(TT0,'mask',[1 1 1 0 0 1]); q1 = dobot.ikine(TT1,'mask',[1 1 1 0 0 0]); q2 = dobot.ikine(TT2,'mask',[1 1 1 0 0 0]); q3 = dobot.ikine(TT3,'mask',[1 1 1 0 0 0]); hold on; % Splice all joint corners q=[q0;q1;q2;q3]; % Calculating speed and acceleration step=50; qd = zeros(step-1,4); for i = 2:step qd(i,1) = q(i,1)-q(i-1,1); qd(i,2) = q(i,2)-q(i-1,2); qd(i,3) = q(i,3)-q(i-1,3); end qdd = zeros(step-2,4); for i = 2:step-1 qdd(i,1) = qd(i,1)-qd(i-1,1); qdd(i,2) = qd(i,2)-qd(i-1,2); qdd(i,3) = qd(i,3)-qd(i-1,3); end % Dobot movement according to joint angle dobot.plot(q); hold on; plot3(Tj(:,1),Tj(:,2),Tj(:,3),'r','linewidth',3);%Show end trajectory hold on; figure(2) subplot(2,2,2) plot3(Tj(:,1),Tj(:,2),Tj(:,3),'r','linewidth',3);%Show end trajectory grid on; subplot(2,2,1) plot(q); legend('joint1','joint2','joint3','joint4') grid on; title('Position'); subplot(2,2,3) plot(qd); legend('joint1','joint2','joint3','joint4') grid on; title('Speed'); subplot(2,2,4) plot(qdd); legend('joint1','joint2','joint3','joint4') grid on; title('Acceleration');