基于MATLAB-Simulink方法的五自由度机械臂仿真

2010 20th International Conference on Electronics Communications and Computers (CONIELECOMP) Pub Date : 2010-04-01 DOI:10.1109/CONIELECOMP.2010.5440751

Jesús Arturo Velarde-Sánchez, Sergio Alberto Rodríguez-Gutiérrez, L. García-Valdovinos, J. Ortega

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引用次数: 19

摘要

这项工作提出了一种新的仿真方法应用于五自由度机械臂。该工作包括机械臂的正运动学、逆运动学和微分运动学以及动力学的数学建模。该方法利用Matlab-Simulink实现了三维空间中的路径跟踪。对几个路径进行了测试以验证该方法。该方法可用于不同机器人的行为和控制规律测试。

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5-DOF manipulator simulation based on MATLAB-Simulink methodology

This work presents a novel simulation methodology applied to a 5-DOF manipulator. The work includes mathematical modeling of the direct, inverse and differential kinematics as well as the dynamics of the manipulator. The method implements the path following in the 3D space and uses the Matlab-Simulink approach. Several paths were tested to verify the method. This methodology can be used with different robots to test the behavior and control laws.

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来源期刊

2010 20th International Conference on Electronics Communications and Computers (CONIELECOMP)

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