Matlab机械人工具箱帮助.pdfVIP

A computer to ol for simulation and analysis the Rob otics To olb ox for MATLAB Peter I Corke CSIRO Division of Manufacturing Technology picmlbdmtcsiroau A bstract This paper introduces in tutorial form a Robotics Toolbox for MATLAB that allows the user to easily create and manipulate datatypes fundamental to robotics such as homogeneous transformations quaternions and trajectories Functions provided for arbitrary seriallink manipulators include forward and inverse kinematics and forward and inverse dynamics The complete Toolbox and documentation is freely available via anonymous ftp Intro duction MATLAB is a powerful environmentfor linear algebra and graphical presentation that is available on a very wide range of computer platforms The core functionality can be extended by application specic toolboxes The Robotics Toolbox provides many functions that are required in robotics and addresses areas such as kinematics dynamics andtrajectory generation The Toolbox is usefulforsimulationaswellas analyzing results from experiments with real robots and can be a powerful tool for education The Toolbox is based on a very general method of representing the kinematics and dynamics of seriallink manipulators by description matrices These comprise in the simplest case the Denavit and Hartenberg parameters of the robot and can be created by the user for any seriallink manipulator A number of examples are provided for well known robots such as the Puma and the Stanford arm The manipulator description can be elaborated by augmenting the matrix to include link inertial and motor inertial and frictional parameters Such matrices provide a concise means of describing a robot modeland mayfacilitatethe sharing of robot modelsacross the researchcommunity This would allow simulation results to be compared i