华侨大学学报（自然科学版）2016，Vol.37Issue(3)：299-303,5.DOI:10.11830/ISSN.1000-5013.2016.03.0299
采用Matlab的六自由度机器人三维运动学仿真
3D Kinematics Simulation of Six DOF Robot Using Matlab
摘要
Abstract
For the 3D kinematics modeling and simulation of SA1400 six degrees of freedom industrial robot,the robot kinematics equations are established and forward and inverse solutions are got.In order to verify the correctness of the e-quations and solutions.Firstly,solidworks is used to build 3D model of robot components.Then,forward and inverse solutions are programmed using Matlab,and models of robot components are imported.The 3D graphics functions of Matlab is used to display the 3D model of the robot,and do dynamic simulation of robot trajectory movement,while re-cording the change in the angle of each joint of robot during the simulation and suggesting irrational angle values and sin-gular points.The results show that the process factually simulates the actual movement of the robot.The simulation re-sults achieve the expected goal,and prove the accuracy and feasibility of solutions obtained from forward and inverse kine-matics equations .关键词
三维仿真/工业机器人/六自由度/运动学/MatlabKey words
3D simulation/industrial robot/six degrees of freedom/kinematics/Matlab分类
信息技术与安全科学引用本文复制引用
李庆,谢一首,郑力新,张裕坤,庄礼鸿..采用Matlab的六自由度机器人三维运动学仿真[J].华侨大学学报（自然科学版）,2016,37(3):299-303,5.基金项目
福建省科技厅科研计划资助项目（2013H2002）；华侨大学研究生科研创新能力培育计划资助项目 （）
