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matlab机器人工具箱matlabrobotics_toolbox_demo（共5则范文）.docx

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matlab机器人工具箱matlabrobotics_toolbox_demo（共5则范文） 第一篇：matlab机器人工具箱matlabrobotics_toolbox_demo（共）MATLABROBOTTOOLrtdemo演示目录一、rtdemo机器人工具箱演示..............................................2二、transfermations坐标转换.................................................2三、Trajectory齐次方程..........................................................8四、forwardkinematics运动学正解.....................................12四、Animation动画..............................................................18五、InverseKinematics运动学逆解......................................23六、Jacobians雅可比---矩阵与速度...................................32七、InverseDynamics逆向动力学........................................45八、ForwardDynamics正向动力学.......................................52一、rtdemo机器人工具箱演示>>rtdemo%二、transfermations坐标转换%Inthefieldofroboticstherearemanypossiblewaysofrepresenting%positionsandorientations,butthehomogeneoustransformationiswell%matchedtoMATLABspowerfultoolsformatrixmanipulation.%%HomogeneoustransformationsdescribetherelationshipsbetweenCartesian%coordinateframesintermsoftranslationandorientation.%Apuretranslationof0.5mintheXdirectionisrepresentedbytransl(0.5,0.0,0.0)ans=1.0000000.500001.000000001.000000001.0000%%arotationof90degreesabouttheYaxisbyroty(pi/2)ans=0.000001.0000001.000000-1.000000.000000001.0000%%andarotationof-90degreesabouttheZaxisbyrotz(-pi/2)ans=0.00001.000000-1.00000.000000001.000000001.0000%%thesemaybeconcatenatedbymultiplicationt=transl(0.5,0.0,0.0)*roty(pi/2)*rotz(-pi/2)t=0.00000.00001.00000.5000-1.00000.000000-0.0000-1.00000.000000001.0000%%Ifthistransformationrepresentedtheoriginofanewcoordinateframewithrespect%totheworldframeorigin(0,0,0),thatneworiginwouldbegivenbyt*[0001]'ans=0.5000001.0000pause%anykeytocontinue%%theorientationofthenewcoordinateframemaybeexpressedintermsof%Euleranglestr2eul(t)ans=01.5708-1.5708%%orroll/pitch/yawanglestr2rpy(t)ans=-1.57080.0000-1.5708pause%anykeytocontinue%%Itisimportanttonotethattranformmultiplicationisingeneralnot%commutativeasshownbythefollowingexamplerotx(pi/