基于MATLAB的工业机器人运动学仿真研究

摘要

采用D－H方法建立了 IRB140机器人数学模型，构建了运动学方程并对方程进行了求解。利用MATLAB的机器人工具箱建立了机器人三维模型，通过编程实现了对机器人模型的检验，经过对运动学方程的求解结果和滑块控制图所设定数值的比较，其误差很小，验证了模型的可靠性；对机器人运动学正逆解进行了仿真得到了各种有效的仿真数据，为后续动力学研究和轨迹规划打下了基础。%The mathematical model of an IRB140 robot was set up with the D‐H method ,and the kinematic equation was constructed and solved .The 3D model of the robot was established with the toolbox of MATLAB ,and the model was tested by programming . By the comparison betweem the result of the kinematic equation and the numerical value set by the slider control chart ,the error was proved small .The results showed the model was reliable .The effective data of the simulation on the forward & inverse solution about the robot kinematics were got ,which would lay the foundation for the subsequent dynamics research .