毕业设计&课设-利用MATLAB对Kuka KR3 R540机器人进行建模与仿真。.zip

# Kuka KR3 Model and simulation in MATLAB of the Kuka KR3 R540 robot. A kinematic analysis was done as part of the Robotics course at UFSC (Federal University of Santa Catarina, Brazil), and is available in Portuguese in 'doc' folder. ## Requirements - MATLAB Mathworks Software - Robotics Toolbox for MATLAB 10.2.1, available at http://petercorke.com/wordpress/toolboxes/robotics-toolbox ## How to use The Example.m file contains the code needed to simulate a specific robot position. ### kr3Init - Robot startup The function initializes the parameters of the Kuka KR3 R540 manipulator robot. ``` matlab kr3Init(f) % Arguments: % f = tool positioning vector in mm % * opcional parameter, default [0 0 0] % % Action: % Creates a global variable named kr3 containing all parameters ``` The global variable created by the kr3Init function is a SerialLink object that can be manipulated through the Robotics Toolbox functions. To do this, you must declare it: ``` matlab global kr3 ``` ### kr3FK - Forward kinematics of the robot Calculation of the forward kinematics homogeneous matrix of the robot, given a position vector of the joints. ``` matlab kr3FK(angulosDH) % Arguments: % angulosDH = joint angles vector in degrees (Denavit-Hartemberg) % * opcional parameter, default [0 -90 90 80 0 0] % % Return: % Homogeneous matrix of the forward kinematics ``` ### kr3IK - Inverse kinematics of the robot Calculates the inverse kinematics of the manipulator robot. An array with angles in degrees (Denavit-Hartemberg) is returned, where each line represents a valid solution. ``` matlab kr3IK(mat) % Arguments: % mat = 4 x 4 homogeneous matrix % % Return: % Joint angles vector in degrees (Denavit-Hartemberg) ``` ### kr3Teach - Graphical teach pendant The function allows the user to manipulate the robot using a graphical interface. ``` matlab kr3Teach(q) % Arguments: % q = joint angles vector in degrees (Denavit-Hartemberg) % * opcional parameter, default [0 -90 90 80 0 0] % % Action: % Creates figure for robot manipulation ``` ## License GNU General Public License v3.0 ## Authors Júlio J. da Costa Neto Luiz O. Limurci dos Santos