【机械仿真】基于matlab简化几何解法六轴机械臂位置规划【含Matlab源码 2128期】.zip

clc; clear; %载入数据 importfile('shuiping.mat'); theta_shuiping=shuiping; %参数,单位/m a=0.1; L1=0.43; L2=0.65; L3=0.7; L4=0.088; H=pi/180; % %给定初始和终止角度 % alpha1_st=80*pi/180; % alpha2_st=45*pi/180; % alpha1_en=50*pi/180; % %角度值 % alpha1_st1=80; % alpha2_st1=45; % alpha1_en1=50; % jiange=3; % %开始计算 % deltah=L2*sin(alpha1_st)-L3*sin(alpha2_st); % for i=1:(alpha1_st1-alpha1_en1)/jiange+1 % alpha1(i)=alpha1_st1-(i-1)*jiange; % end alpha1_st=theta_shuiping(1)*H; alpha2_st=45*pi/180; deltah=L2*sin(alpha1_st)-L3*sin(alpha2_st); alpha1=theta_shuiping; theta2=alpha1; alpha2=asin((L2*sin(alpha1*H)-deltah)/L3); theta3=90-theta2-alpha2/H; theta5=90-alpha2/H; %画图 r2_s=a; h2_s=L1; %L2起点 r3_s=a+L2*cos(alpha1*H); h3_s=L1+L2*sin(alpha1*H); %L2终点，L3起点； r4_s=r3_s+L3*cos(alpha2); h4_s=h3_s-L3*sin(alpha2); %L3终点，L4起点； r4_e=r4_s; h4_e=h4_s-L4; %画连杆2，3，4 figure(1) N=size(theta2,2); for i=1:N a=drawline(r2_s,r3_s(i),h2_s,h3_s(i)); a=drawline(r3_s(i),r4_s(i),h3_s(i),h4_s(i)); a=drawline(r4_s(i),r4_e(i),h4_s(i),h4_e(i)); end %画底座和连杆1 a=drawline2(-0.2,0.2,0,0); a=drawline2(0,0,0,0.2); a=drawline2(0,0.1,0.2,0.43); plot(r4_e,h4_e,'b','LineWidth',3) %题目横纵坐标及范围 axis([-0.25 1.1 0 1.2]) xlabel('r/m'); ylabel('z/m'); grid on axis equal % title('机械臂水平方向直线运动'); figure(2) plot(theta2,'-'); hold on plot(theta3,'-.'); hold on plot(theta5,'--'); % title('各关节运动曲线'); legend('theta2','theta3','theta5') axis([1 20 -40 90]) xlabel('序列号'); ylabel('关节角/°'); set(gcf,'color','white'); set(gca,'FontSize',15); function a=drawline(x1,x2,y1,y2) x=[x1,x2]; y=[y1,y2]; plot(x,y,'k','LineWidth',0.8) hold on a=1; set(gcf,'color','white'); set(gca,'FontSize',15); end function a=drawline2(x1,x2,y1,y2) x=[x1,x2]; y=[y1,y2]; plot(x,y,'k','LineWidth',2) hold on a=1; end