| 基于MATLAB的合作机器人(Cobot)动力学仿真 |
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| 引用本文： | 董玉红,张立勋.基于MATLAB的合作机器人(Cobot)动力学仿真[J].哈尔滨工程大学学报,2005,26(1):92-97. |
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| 作者姓名： | 董玉红 张立勋 |
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| 作者单位： | 哈尔滨工程大学,机电工程学院,黑龙江,哈尔滨,150001;哈尔滨工程大学,机电工程学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金资助项目(60275030)，哈尔滨市留学回国基金资助项目(2002AFLXJ004). |
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| 摘 要： | 合作机器人(Cobot)是能直接与人合作的机器人.为了分析Cobot的动力学性能,应用牛顿-欧拉法,基于MATLAB对四自由度Cobot进行了动力学仿真.推导了Cobot的运动约束方程和动力学方程,构成了Cobot的约束矩阵方程.通过MATLAB函数来求解约束矩阵方程,建立了Cobot的动力学仿真模型,并对Cobot跟踪给定直线进行了仿真分析.仿真结果表明,该仿真模型具有Cobot机器人的特点,可以方便地获得Cobot的动力学参数,为实现机器人的控制及性能改进提供了理论依据.
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| 关 键 词： | MATLAB 合作机器人 动力学 |
| 文章编号： | 1006-7043(2005)01-0092-06 |
| 修稿时间： | 2004年7月12日 |
Dynamics simulation of Cobot based on MATLAB |
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| DONG Yu-hong,ZHANG Li-xun.Dynamics simulation of Cobot based on MATLAB[J].Journal of Harbin Engineering University,2005,26(1):92-97. |
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| Authors: | DONG Yu-hong ZHANG Li-xun |
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| Abstract: | Cobots are robots that directly collaborate with humans. In order to analyze dynamic performances of a Cobot based on MATLAB, the dynamics simulation of a four-degree-of-freedom Cobot was completed by applying the Newton- Euler method. Kinematics constraint equations and dynamics equations of the Cobot were given, and the constraint matrix equation of Cobot was constituted.A dynamics simulation model of the Cobot was built up by MATLAB function working out the matrix, and the simulation analysis of the Cobot tracking a straight line was carried out. The simulation results illustrate that the model possesses features of a Cobot, and conveniently acquires dynamics parameters of a Cobot, so it can provide theoretical bases for robot control and performance improvement. |
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| Keywords: | MATLAB collaborative robot Cobot |
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