Robot-Kinematics-Simulation
所属分类：matlab编程
开发工具：matlab
文件大小：1846KB
下载次数：32
上传日期：2014-08-05 23:46:16
上 传 者：
jiafeimaox
说明： 多种不同类型串联机器人的运动学相关内容计算方法，包括逆运动、雅可比等，均有相关matlab程序。
(The kinematics simulation of different types of serial robots (matlab program), including the inverse movement, jacobian, etc..)
文件列表:
Three kinds of robot kinematics simulation\PS1\DH_calculator.m (1266, 2013-05-23)
Three kinds of robot kinematics simulation\PS1\PS1 Diagrams.pdf (423789, 2012-04-27)
Three kinds of robot kinematics simulation\PS1\PS1.docx (331656, 2013-05-23)
Three kinds of robot kinematics simulation\PS2\problem 1.nb (11727, 2012-04-27)
Three kinds of robot kinematics simulation\PS2\problem 3.nb (28046, 2012-04-27)
Three kinds of robot kinematics simulation\PS2\problem1.m (2566, 2013-05-24)
Three kinds of robot kinematics simulation\PS2\problem2.m (2128, 2012-04-27)
Three kinds of robot kinematics simulation\PS2\problem3.m (4752, 2012-04-27)
Three kinds of robot kinematics simulation\PS3A\problem1.m (1847, 2013-05-25)
Three kinds of robot kinematics simulation\PS3A\problem2.m (1458, 2013-05-25)
Three kinds of robot kinematics simulation\PS3A\problem3.m (1616, 2013-05-25)
Three kinds of robot kinematics simulation\PS3B\main.m (1489, 2012-04-27)
Three kinds of robot kinematics simulation\PS3B\posvector.m (296, 2012-04-27)
Three kinds of robot kinematics simulation\PS3B\ps3b.docx (13412, 2012-04-27)
Three kinds of robot kinematics simulation\PS3B\solution.txt (268, 2013-05-24)
Three kinds of robot kinematics simulation\PS3B\tooltransform.m (1208, 2012-04-27)
Three kinds of robot kinematics simulation\PS4\joint_torques.m (565, 2012-04-27)
Three kinds of robot kinematics simulation\PS4\mass_jacobian.m (510, 2012-04-27)
Three kinds of robot kinematics simulation\PS4\problem1.m (1234, 2012-04-27)
Three kinds of robot kinematics simulation\PS4\problem2.m (1240, 2012-04-27)
Three kinds of robot kinematics simulation\PS4\tooltransform.m (1091, 2012-04-27)
Three kinds of robot kinematics simulation\PS5A\find_p.m (449, 2012-04-27)
Three kinds of robot kinematics simulation\PS5A\jacobian.m (1210, 2012-04-27)
Three kinds of robot kinematics simulation\PS5A\main.m (2551, 2012-04-27)
Three kinds of robot kinematics simulation\PS5b\computeMvecBvec.m (689, 2012-04-27)
Three kinds of robot kinematics simulation\PS5b\findSDdotMinMax.m (949, 2012-04-27)
Three kinds of robot kinematics simulation\PS5b\findSdotMax.m (640, 2012-04-27)
Three kinds of robot kinematics simulation\PS5b\fncInvKinPS5.m (861, 2012-04-27)
Three kinds of robot kinematics simulation\PS5b\fwd_kin.m (788, 2012-04-27)
Three kinds of robot kinematics simulation\PS5b\Hessian.m (2290, 2012-04-27)
Three kinds of robot kinematics simulation\PS5b\Jacobian.m (989, 2012-04-27)
Three kinds of robot kinematics simulation\PS5b\JacobiansPS5.m (3012, 2012-04-27)
Three kinds of robot kinematics simulation\PS5b\nomHand.m (354, 2012-04-27)
Three kinds of robot kinematics simulation\PS5b\ps5a_v2.m (4524, 2012-04-27)
Three kinds of robot kinematics simulation\PS5b\ps5b.m (1824, 2012-04-27)
... ...
Edward Venator
EECS 489 Spring 2012
Assignment 2
All algorithms are explained in comments at the beginning of the Matlab code.
Attached Mathematica notebooks were used to help work solutions, but are not
necessary to understand the Matlab code, and may not reflect final algorithms.
Solutions
All lengths in meters. All angles in radians.
1) L1 = 9.5
L2 = 19.5
2) L1 = 2.9978
L2 = 4.9625
3) offset1 = 1.5708
offset2 = 0
offset3 = -2.1708
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