目录基于Matlab的六关节机器人运动学仿真目录摘要.............................................................IABSTRACT........................................................II第一章绪论....................................................11.1研究的目的及意义............................................51.2国、内外研究现状............................................51.2.1国外研究现状............................................51.2.2国内研究现状............................................61.3本文的研究内容..............................................6第二章机器人运动学分析..........................................72.1机器人理论基础..............................................72.1.1位置描述................................................72.1.2姿态描述................................................72.1.3位姿描述................................................82.1.4坐标变换................................................82.1.5D-H方法.................................................92.2正运动学分析...............................................102.2.1正运动学实例验证.......................................142.3机器人逆分析...............................................172.3.1求解关节角THETA1......................................172.3.2求解关节角THETA3......................................182.3.3求解关节角THETA2......................................192.3.4求解关节角THETA4......................................202.3.5求解关节角THETA5......................................202.3.6求解关节角THETA6......................................212.3.7逆运动学实例...........................................21第三章机器人运动学仿真分析.....................................223.1MATLAB软件基础............................................223.2ROBOTICSTOOLBOX机器人工具箱介绍.........................233.3运动学建模.................................................233.4正运动学仿真验证...........................................26目录3.5逆运动学仿真验证...........................................29第四章总结.....................................................31参考文献........................................................32致谢............................................................34附页............................................................35I摘要基于Matlab的六关节机器人运动学仿真摘要：随着制造业的发展，机器人技术的应用越来越普遍，本文以ABB公司的六自由度工业机器人IRB4600为对象进行了相关研究。首先对ABBIRB4600-20/2.5型号机器人进行了正运动学分析。简要描述了机器人学科的基本理论基础，利用机器人学DH方法对机器人进行正运动学建模，利用矩阵乘积等式建立了机器人的正运动学模型。然后，对ABBIRB4600-20/2.5机器人进行了逆运动学分析，接着利用机器人学和数学知识求解了6个关节角实例。最后对ABBIRB4600-20/2.5机器人进行了仿真分析。利用MATALB编写正运动学和逆运动学计算程序，并且利用机器人工具箱作为对比，验证了前面正逆运动学算法的推导过程的正确性。通过上述工作，本文对六关节工业机器人的运动学控制算法等关键技术进行了分析与验证，为后续运动学控分析和动力学控制定了基础。关键词：正运动学；逆运动学；MATLAB运动学仿真IIAbstractKinematicssimulationofsix-jointrobotbasedonMATLABAbstract：Withthedevelopmentofmanufacturingindustry,theapplicationofroboticstechnologyisbecomingmoreandmorepopular.Thispaperstudiesthesix-degree-of-freedomindustrialrobotIRB4600ofABBCompany.Firstly,theforwardkinematicsofABBIRB4600-20/2.5robotisanalyzed.Thebasi...
