基于MATLAB/Simulink的机器人运动学仿真  

Kinematics simulation of robots based on MATLAB/Simulink

作　　者：张晓超 董玉红[1] 

机构地区：[1]哈尔滨理工大学,哈尔滨150080

出　　处：《现代制造工程》2005年第S1期61-62,共2页Modern Manufacturing Engineering

摘　　要：利用MATLAB/Simulink仿真软件对机器人的运动学仿真进行研究,提出基于机构仿真工具SimMechanics的运动学仿真和基于MATLAB函数的运动学仿真,并以平面两关节机器人为例比较了各自的特点。这两种仿真方法对于复杂多关节机器人也同样适用。Kinematics simulations of robots were studied by MATLAB/Simulink simulation software.Kinematics simulations based on mechanism simulation tool SimMechanics and on MATLAB function were put forward,and their features compared for two joints robot as an example.The two methods can also be used in application to multiple joints robots.

关 键 词：MATLAB/SIMULINK SIMMECHANICS 运动学 仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]