多自由度机器人仿真

阳光穿透心脏的1/2处 2023-10-03 07:57 4阅读 0赞

设计一个多自由度机器人，至少包含一个伸缩关节，对指定位置的物体进行搬运，进行正运动学仿真，逆运动学求解。

机器人D-H坐标系

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70][]

对应的D-H参数表

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 1][]

根据D-H参数表得到齐次变换矩阵

![20210614172446920.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 2][]

![20210614172512615.png][]

将D-H参数表的数据代入,得到:

![2021061417263918.png][]

绘制机器人工作空间，让机器人每个关节在给定的范围内运动，机器人末端经过的位置使用红点标记，得到工作空间:

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 3][]

机器人逆运动求解:

在所有的转动和移动关节中，当机器人的自由度总共有6个或者小于6个时是可解的。 其通解一般是数值不是解析表达式。如果使用数值迭代原理求解，计算量要比解析解大。 在某些情况下，如果若干个关节轴线相交和或多个关节轴线等于0或90°的情况下(即机 器人自由度减少)，具有6个自由度的机器人可得到解析解。为使机器人有解析解，一般设 计方法是使工业机器人结构足够简单，尽量满足这些特殊条件。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 4][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 5][]

![20210614172951948.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 6][]

![20210614173048429.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 7][]

![20210614173105754.png][]

![20210614173113405.png][]

![20210614173119314.png][]

![20210614173127876.png][]

![20210614173134931.png][]

![20210614173141797.png][]

![20210614173148670.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 8][]

![20210614173225398.png][]

![20210614173232392.png][]

![20210614173238557.png][]

![20210614173244598.png][]

![20210614173255399.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 9][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 10][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 11][]

![20210614173334153.png][]

![202106141733391.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 12][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 13][]

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70]: https://img-blog.csdnimg.cn/20210614172346563.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 1]: https://img-blog.csdnimg.cn/20210614172409394.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70
[20210614172446920.png]: https://img-blog.csdnimg.cn/20210614172446920.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 2]: https://img-blog.csdnimg.cn/20210614172459286.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70
[20210614172512615.png]: https://img-blog.csdnimg.cn/20210614172512615.png
[2021061417263918.png]: https://img-blog.csdnimg.cn/2021061417263918.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 3]: https://img-blog.csdnimg.cn/20210614172811151.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 4]: https://img-blog.csdnimg.cn/20210614172924232.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 5]: https://img-blog.csdnimg.cn/20210614172933761.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70
[20210614172951948.png]: https://img-blog.csdnimg.cn/20210614172951948.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 6]: https://img-blog.csdnimg.cn/20210614172943786.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70
[20210614173048429.png]: https://img-blog.csdnimg.cn/20210614173048429.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 7]: https://img-blog.csdnimg.cn/20210614173055362.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70
[20210614173105754.png]: https://img-blog.csdnimg.cn/20210614173105754.png
[20210614173113405.png]: https://img-blog.csdnimg.cn/20210614173113405.png
[20210614173119314.png]: https://img-blog.csdnimg.cn/20210614173119314.png
[20210614173127876.png]: https://img-blog.csdnimg.cn/20210614173127876.png
[20210614173134931.png]: https://img-blog.csdnimg.cn/20210614173134931.png
[20210614173141797.png]: https://img-blog.csdnimg.cn/20210614173141797.png
[20210614173148670.png]: https://img-blog.csdnimg.cn/20210614173148670.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 8]: https://img-blog.csdnimg.cn/20210614173155146.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70
[20210614173225398.png]: https://img-blog.csdnimg.cn/20210614173225398.png
[20210614173232392.png]: https://img-blog.csdnimg.cn/20210614173232392.png
[20210614173238557.png]: https://img-blog.csdnimg.cn/20210614173238557.png
[20210614173244598.png]: https://img-blog.csdnimg.cn/20210614173244598.png
[20210614173255399.png]: https://img-blog.csdnimg.cn/20210614173255399.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 9]: https://img-blog.csdnimg.cn/20210614173306723.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 10]: https://img-blog.csdnimg.cn/20210614173315105.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 11]: https://img-blog.csdnimg.cn/20210614173325356.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70
[20210614173334153.png]: https://img-blog.csdnimg.cn/20210614173334153.png
[202106141733391.png]: https://img-blog.csdnimg.cn/202106141733391.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 12]: https://img-blog.csdnimg.cn/20210614173348328.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 13]: https://img-blog.csdnimg.cn/20210614173355663.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU=,size_16,color_FFFFFF,t_70