基于MATLAB Robotic Toolbox的关节型机器人运动仿真研究

摘要

Simulation analysis method is introduced in MATLAB based on revolute robot .Taken the ER3A-C60 robot as an exam-ple, the problems of forward kinematics , inverse kinematics and trajectory planning were analyzed .After the kinematic model estab-lished with the Robotics toolbox and D-H parameter method , the simulation of trajectory planning of the robot was conducted .The rela-tion curves that angular displacement , angular velocity and angular acceleratio vary with time were obtained , which verify the rationality of the robot's parameters.%在MATLAB环境下对关节工业机器人进行仿真分析.以ER3A-C60机器人为例,分析了它的正运动学、 逆运动学和轨迹规划问题.利用Robotics toolbox和D-H参数建模方法,建立该机器人的运动学模型,进行该机器人轨迹规划的仿真,得到机器人关节角、 角速度、 角加速度随时间变化曲线,验证该机器人参数的合理性.