洛阳理工学院毕业设计（论文）I二自由度机器人角度控制仿真摘要近二十年来，机器人技术发展非常迅速，各种用途的机器人在各个领域广泛获得应用。我国在机器人的研究和应用方面与工业化国家相比还有一定的差距，因此研究和设计各种用途的机器人特别是工业机器人、推广机器人的应用是有现实意义的。本次设计主要是对二自由度机器人的位置控制进行设计和仿真，采用了PD控制方法，运用MATLAB语言、Simulink及Robot工具箱，搭建二自由度机器人的几何模型、动力学模型。并构建控制器的模型，通过调整控制器参数，对二自由度机器人的位姿进行控制，并将实验中采集到数据导入到MATLAB环境中进行仿真，达到较好的控制效果。关键词：PD，运动学，二自由度机器人洛阳理工学院毕业设计（论文）IITwodegreesoffreedomrobotAnglecontrolsimulationABSTRACTOverthepasttwentyyears,robottechnologyisdevelopingveryrapidly,variousUSESofrobotsinallfieldswidely.Inresearchandapplicationofrobotinourcountry,thereisstillagapcomparedwithindustrializedcountries,sotheresearchanddesignallkindsofrobots,especiallyindustrialrobot,thepromotionoftheuseofrobotshasarealisticsignificance.ThisdesignismainlyfortwodegreesoffreedomRobotpositioncontroldesignandsimulation,thePDcontrolmethodisadopted,usingtheMATLABlanguage,theSimulinkandRobotkit,twodegreesoffreedomRobotgeometrymodel,thedynamicmodel.Andbuildthemodelofthecontroller,byadjustingthecontrollerparameters,tocontroltwodegreesoffreedomrobotpose,andtheexperimentcollecteddataimportedtoMATLABsimulationenvironment,achievegoodcontroleffect.KEYWORDS:PD，motioncontrol，2-DOFparallelrobot洛阳理工学院毕业设计（论文）III目录前言................................................................................................1第1章绪论......................................................................................21.1研究背景...............................................................................21.2选题的意义...........................................................................2第2章机器人运动学及动力学.......................................................42.1运动学概述...........................................................................42.2机械手..................................................................................42.2.1机器手的机构和运动.................................................42.2.2运动学及动力学关系.................................................62.3动力学概述...........................................................................82.4惯性矩分析............................................................................82.5拉格朗日运动学方程............................................................9第3章机器人运动控制系统.........................................................133.1概述....................................................................................133.1.1机器人控制特点.......................................................133.1.2机器人控制方式.......................................................143.2PD控制器............................................................................14第4章MATLAB软件....................................................................164.1MATLAB简介.....................................................................164.2MATLAB的优势.................................................................174.3SIMULINK仿真以及ROBOTTOOLBOOX......................19第5章动态仿真...............................................................
