MATLAB ROBOTTOOL rtdemo 演示 目录 一、rtdemo 机器人工具箱演示 .............................................. 2 二、transfermations 坐标转换 ................................................. 2 三、Trajectory齐次方程 .......................................................... 8 四、forward kinematics 运动学正解..................................... 12 四、Animation 动画 .............................................................. 18 五、Inverse Kinematics 运动学逆解 ...................................... 23 六、 Jacobians 雅可比---矩阵与速度 ................................... 32 七、Inverse Dynamics 逆向动力学 ........................................ 45 八、Forward Dynamics 正向动力学 ....................................... 52 一、rtdemo 机器人工具箱演示 >> rtdemo % 二、transfermations 坐标转换 % In the field of robotics there are many possible ways of representing % positions and orientations, but the homogeneous transformation is well % matched to MATLABs powerful tools for matrix manipulation. % % Homogeneous transformations describe the relationships between Cartesian % coordinate frames in terms of translation and orientation. % A pure translation of 0.5m in the X direction is represented by transl(0.5, 0.0, 0.0) ans = 1.0000 0 0 0.5000 0 1.0000 0 0 0 0 1.0000 0 0 0 0 1.0000 % % a rotation of 90degrees about the Y axis by roty(pi/2) ans = 0.0000 0 1.0000 0 0 1.0000 0 0 -1.0000 0 0.0000 0 0 0 0 1.0000 % % and a rotation of -90degrees about the Z axis by rotz(-pi/2) ans = 0.0000 1.0000 0 0 -1.0000 0.0000 0 0 0 0 1.0000 0 0 0 0 1.0000 % % these may be concatenated by multiplication t = transl(0.5, 0.0, 0.0) * roty(pi/2) * rotz(-pi/2) t = 0.0000 0.0000 1.0000 0.5000 -1.0000 0.0000 0 0 -0.0000 -1.0000 0.0000 0 0 0 0 1.0000 % % If this...
