摘要
对N自由度机器人进行了数学建模和仿真研究。构建了N自由度机器人的运动学数学模型,然后基于牛顿欧拉方程建立了机器人的动力学模型。用此种方法建立的模型随着自由度的增加,机器人模型的复杂程度相对其他方法来说增加较慢,迭代速度快。借助Matlab和Simulink强大的计算和绘图能力实现了N自由度机器人的运动轨迹的实时检测、运动学求解、动力学求解、轨迹生成、机械手动态演示等功能,可以用于机器人教学或使用机器人的工业环境中进行仿真演示或实时检测,具有较高的应用价值。
The course and realization of modeling and simulation of N-Dofrobot are discussesed. Firstly, derive the mathematical model to solve the kinematics of N-Dof of freedom robots. Following this, the dynamic model based on Newton-Euler equation is derived. The model derived from this method is very simplified and utilized, so the simulated time is shorter than others＇. Gain the simulation model based on Matlab and Simulink, including kinematics, dynamics, and trajectory generation. Combined with the interactive algebra and graphical function, a convenient model of N-Dof robot is developed, which helps a lot in the robot teaching, designing, researching and selecting.
出处
《计算机工程与设计》
CSCD
北大核心
2006年第24期4813-4816,共4页
Computer Engineering and Design
