毕业设计&课设-用于ROBOT开放式机械手建模与仿真的MATLAB和Simulink文件.zip

# Robot Manipulator Control Example Copyright 2017-2019 The MathWorks, Inc. ------------------------------------------------------------------------------------------ ## About the Example This example uses the ROBOTIS OpenManipulator Chain robot to demonstrate the design of manipulator algorithms using MATLAB and Simulink. This submission depends on files from the following Git repository: https://github.com/ROBOTIS-GIT/open_manipulator. The `startupExample` script will attempt to download them, but if there are any errors there is a pre-imported model of the robot manipulator so you can still run the examples. Forward and inverse kinematics are demonstrated using functions available within MATLAB as well as supervisory logic implemented in Stateflow. Robot geometries are imported to MATLAB using the "importrobot" function and to Simscape Multibody using the "smimport" function. For more information on these functions check the associated documentation pages. To learn more, refer to these videos: * [Designing Robot Manipulator Algorithms](https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-designing-robot-manipulator-algorithms-1515776491590.html) * [Controlling Robot Manipulator Joints](https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-controlling-robot-manipulator-joints-1521714030608.html) ------------------------------------------------------------------------------------------ ## Main Example Files 1. `openManipulatorIK.m` This file shows how to import a robot from a URDF description and use the generated rigid body tree representation to implement forward and inverse kinematics algorithms 2. `openManipulatorWaypointTracking.slx` This Simulink model uses Simscape Multibody as the environment and shows how to integrate the forward and inverse kinematics algorithms into Simulink to be used with Stateflow supervisory logic to pickup a ball, follow a trajectory, and finally drop the ball. 3. `openManipulatorBallTracking.slx` This Simulink model builds on the waypoint tracking model and adds simple perception to track and catch a moving ball using a polynomial extrapolation of the ball trajectory. 4. `openManipulatorTorqueCtrlCfg.slx` This Simulink model tests the closed-loop torque controller, in configuration space, using joint position commands (no inverse kinematics or supervisory logic). 5. `openManipulatorTorqueCtrlTask.slx` This Simulink model tests the closed-loop torque controller, in task space, using end effector position commands (no supervisory logic). ------------------------------------------------------------------------------------------ ## Product Requirements This submission was last updated and tested using MATLAB R2019b. The required toolboxes to run all examples are: * MATLAB * Simulink * Robotics System Toolbox * Simscape * Simscape Multibody * Stateflow