Matlab机器人学绘制工作空间 Kinematics with Robotics Toolbox
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2023-01-06
21:52:52
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(1) Two Link Manipulator: .................................................... 1
[1.1] Construction of the robot: ..................................... 1
[1.1] Forward Kinematics: .............................................. 2
[1.2] Plot the workspace: ............................................... 2
[1.3] Inverse Kinematics: ............................................... 3
(2) three links RPP Robot: .................................................... 4
[2.1] Robot Construction: .............................................. 4
[2.2] Forward Kinematics: .............................................. 4
[2.3] Workspace Kinematics: ......................................... 5
[2.4] Inverse Kinematics: ............................................... 5
(3) PUMA 560 Manipulator (6 DoF): ..................................... 6
[3.1] Loading the model: ................................................ 6
[3.2] Forward Kinematics: .............................................. 6
[3.3] Workspace: ............................................................ 7
[3.4] Inverse Kinematics: ............................................... 7
clc; clear all; close all;
(1) Two Link Manipulator:
[1.1] Construction of the robot:
Define each link of the manipulator with its own DH parameters:
L(1) = Link([0 ,0, 2,0, 0]); % [theta, d, a, alpha, P=1/R=0]
L(2) = Link([0, 0, 1, 0, 0]); % theta, d, a, alpha, P=1/R=0
% We can find the properties of each link like its length, transformation
% matirx, alpha,.. etc
L(1).A(pi/2); % transformation matrix for link 1 i.e. A1 at theta=pi/2
Kinematics with Robotics Toolbox
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