利用MATLAB对三菱RV-M1机器人进行建模与仿真

2016 IEEE International Conference on Signal and Image Processing (ICSIP) Pub Date : 2016-08-01 DOI:10.1109/SIPROCESS.2016.7888329

Haibin Zhao, Zhiguo Lu, Chong Liu, Hong Wang

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引用次数: 2

摘要

本文对RV-M1机器人的正运动学和逆运动学进行了分析。正运动学模型基于DH参数，逆运动学模型以封闭形式导出。然后，利用机器人系统建模与仿真最常用的平台之一MATLAB软件，建立了交互式仿真系统。最后，仿真结果验证了运动学方程的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Model and simulation of the Mitsubishi RV-M1 robot using MATLAB

In this paper, the forward and inverse kinematics of a robot manipulator named RV-M1 are analyzed. The forward kinematic model is based on the DH parameters, and the inverse one is derived in closed form. Then, the interactive simulation system is established using MATLAB software which is one of the most used platforms for the modeling and simulation of robot systems. Finally, the simulation results verify the effectiveness of the kinematics equations.

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2016 IEEE International Conference on Signal and Image Processing (ICSIP)

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