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Description
前言:
以下内容是我之前的matlab 机器人工具箱的学习笔记。比较琐碎,清谅解。
界面介绍
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Fbcb71714-1693-4e42-9783-c1e05e3ce789%2FUntitled.png?table=block&id=95accda3-6277-43e7-bd67-0695fac0c9d5&t=95accda3-6277-43e7-bd67-0695fac0c9d5&width=709.9874877929688&cache=v2)
快捷键
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F6ff26bc5-848b-471c-8655-5e05ece273d1%2FUntitled.png?table=block&id=9026c5b4-30b4-4a52-a918-c8baba0df3f3&t=9026c5b4-30b4-4a52-a918-c8baba0df3f3&width=1389&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F73b3d70f-5470-439a-ae93-98a4dcbfe69f%2FUntitled.png?table=block&id=71656639-e2b4-422a-9816-7a16bf48f913&t=71656639-e2b4-422a-9816-7a16bf48f913&width=1285&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F8e9a61bb-472c-4dbd-abac-4b6684dc0a4b%2FUntitled.png?table=block&id=c9bee300-96ad-4a6b-9756-d3ef0ad5e8d9&t=c9bee300-96ad-4a6b-9756-d3ef0ad5e8d9&width=1143&cache=v2)
doc+函数查看帮助
矩阵变形
horzcat()
strcat()
vercat()
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Fa9ee5555-cc0b-426a-8f80-35b377b4c886%2FUntitled.png?table=block&id=7534005d-3071-494a-bbfc-f3b7e635b72e&t=7534005d-3071-494a-bbfc-f3b7e635b72e&width=863&cache=v2)
repmat()按规律复制矩阵
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F75c41555-9517-4bd2-bb39-6ac64db061fb%2FUntitled.png?table=block&id=ac24cd14-890f-46a5-b4e8-b47030f2dd80&t=ac24cd14-890f-46a5-b4e8-b47030f2dd80&width=1032&cache=v2)
A(行,列)
find()
简单代数运算
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Fcb605bfd-57f4-453e-af9c-123cef4a67ab%2FUntitled.png?table=block&id=92e1fda2-0e15-4301-8cf4-2f0c0572b7cf&t=92e1fda2-0e15-4301-8cf4-2f0c0572b7cf&width=596&cache=v2)
判断和逻辑运算
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F0c42984b-9353-4c35-8b0e-941ce36fb7d3%2FUntitled.png?table=block&id=d8e1f88f-8df9-4c0f-917c-c45cbee60582&t=d8e1f88f-8df9-4c0f-917c-c45cbee60582&width=1032&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Fd933347a-a857-4841-9221-2a56805fe0c5%2FUntitled.png?table=block&id=4a795984-b558-4bb4-86ba-4cb68258a39a&t=4a795984-b558-4bb4-86ba-4cb68258a39a&width=1026&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F44d80956-1234-4dd4-ae0c-6e0173ed4dd6%2FUntitled.png?table=block&id=235a344e-d440-4811-a00a-b671d6c8bb2e&t=235a344e-d440-4811-a00a-b671d6c8bb2e&width=537&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F2b6cf8c9-2182-4133-8a5f-d72f3b83e600%2FUntitled.png?table=block&id=c2c06083-2daf-4afa-b6b2-ee9dd7aeef3a&t=c2c06083-2daf-4afa-b6b2-ee9dd7aeef3a&width=1070&cache=v2)
MATLAB true:1; false:0;
Python True:1; False:0;
矩阵加减乘除
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Fcb68e1ce-2655-4ab3-a038-b5438dc0aef9%2FUntitled.png?table=block&id=794c1f8a-b8aa-40e2-8576-07b14dc44437&t=794c1f8a-b8aa-40e2-8576-07b14dc44437&width=1129&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F36a28538-acb5-4962-862f-1c6944c13e10%2FUntitled.png?table=block&id=bf68b100-65e0-483a-a42c-46e4d2e98f9d&t=bf68b100-65e0-483a-a42c-46e4d2e98f9d&width=885&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Ff555013e-f9c9-4e89-8655-297e526757ca%2FUntitled.png?table=block&id=f488e186-43d8-40dd-87c5-c9b44a5d245b&t=f488e186-43d8-40dd-87c5-c9b44a5d245b&width=852&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Fec211716-b5cb-49d2-9c51-39665eb3fdd4%2FUntitled.png?table=block&id=b04eb395-6209-487b-b360-07d7d8147041&t=b04eb395-6209-487b-b360-07d7d8147041&width=1071&cache=v2)
IF end
rand随机数发生器
input
tic toc 运行时间
comsum可以看到求和的全部过程
绘图
plot()
subplot()四分子图
线型及标记
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F8006ce51-2144-4ebe-889d-4ec4329534d6%2FUntitled.png?table=block&id=d8b7db23-ebad-466c-9a95-e1a8f49a70f5&t=d8b7db23-ebad-466c-9a95-e1a8f49a70f5&width=1083&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F01633466-999f-44f6-b511-2a5a9e9843ab%2FUntitled.png?table=block&id=776ea30b-57cb-4047-9dc9-d7a1447d7828&t=776ea30b-57cb-4047-9dc9-d7a1447d7828&width=725&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F860e1a54-2a61-4f57-87f4-10f2b35648bc%2FUntitled.png?table=block&id=ad77f61d-385c-4a13-a514-781f7c3f4416&t=ad77f61d-385c-4a13-a514-781f7c3f4416&width=805&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F7951b2a5-e1c2-4a60-9919-4d4a09fe6db0%2FUntitled.png?table=block&id=980e4975-976e-4a53-ab97-303c1312c809&t=980e4975-976e-4a53-ab97-303c1312c809&width=901&cache=v2)
legend()
LineSpec()线型设置
图像的装饰
xlim()
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F5931d2fb-5d0d-438d-bd70-4654d2381d18%2FUntitled.png?table=block&id=e12d5b44-01a2-41d9-be01-6d83d1448ff5&t=e12d5b44-01a2-41d9-be01-6d83d1448ff5&width=845&cache=v2)
daspect()
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F42301845-ab08-49e5-b561-78db5045d8ce%2FUntitled.png?table=block&id=5a4a1347-edb4-4678-b645-6eb0e63b64cb&t=5a4a1347-edb4-4678-b645-6eb0e63b64cb&width=986&cache=v2)
LaTeX编译
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F44c2d074-edea-4cf8-b2a2-d42e5d26a39d%2FUntitled.png?table=block&id=32005563-3e5f-4fb6-9147-7541f48564a2&t=32005563-3e5f-4fb6-9147-7541f48564a2&width=1063&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Ffdd1bd79-64d9-472f-9c6e-f779e2679bfa%2FUntitled.png?table=block&id=f2202cee-3aa2-4eac-9449-705ba857f498&t=f2202cee-3aa2-4eac-9449-705ba857f498&width=642&cache=v2)
grid on网格
subplot()分布制图
linspace()
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Fbe52c9f4-d4db-40e7-8c26-11eb4ac5c900%2FUntitled.png?table=block&id=93aed53e-04ff-4779-98a6-22f5d0f77e1e&t=93aed53e-04ff-4779-98a6-22f5d0f77e1e&width=894&cache=v2)
clc 清理command Window
clear all 清理 Workspace
meshgrid()
contur()三维数据的表达方案等高线
histfit()拟合
stairs()阶梯图
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Fa6b5b27d-e772-4e88-b313-498baacc2a72%2FUntitled.png?table=block&id=b64ef61b-dfe0-498c-a1d2-40ef51236be0&t=b64ef61b-dfe0-498c-a1d2-40ef51236be0&width=782&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F280513f9-48d7-47d4-a3a4-d6fc9620931a%2FUntitled.png?table=block&id=1c406b84-d1e3-47d8-97a0-d4e239b1961a&t=1c406b84-d1e3-47d8-97a0-d4e239b1961a&width=871&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Fe67613df-5ea2-43e3-94cc-7153eb1d5648%2FUntitled.png?table=block&id=91d6d82d-f152-4bf3-ba3d-380f8dd44440&t=91d6d82d-f152-4bf3-ba3d-380f8dd44440&width=800&cache=v2)
scatter()随机的图散地点图
scatter3()三维的散点图
stem()杆图火柴梗图
stem3()
Colormap
fill()
areo()面积
quiver()绘制箭头和速度
quiver3()
heatmap()热图images()
contourslice()四维数据
三维线图
plot3()
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F99e612c8-5651-4182-87a8-8dd537cbfe5e%2FUntitled.png?table=block&id=b231edef-05fe-48a1-b6e2-98c3ba11678d&t=b231edef-05fe-48a1-b6e2-98c3ba11678d&width=914&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Fcb1cce75-f208-4034-b82f-78426b2dae8c%2FUntitled.png?table=block&id=48a08f43-24a0-4fc1-b354-404f2c6de34e&t=48a08f43-24a0-4fc1-b354-404f2c6de34e&width=704&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F4cddea23-7427-4fc9-b770-b71406c83fc5%2FUntitled.png?table=block&id=2c36f6be-ceec-4add-aaba-9479c587cb51&t=2c36f6be-ceec-4add-aaba-9479c587cb51&width=868&cache=v2)
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F63801173-ae29-473e-a81e-ee5f5bcc7426%2FUntitled.png?table=block&id=6b2cf982-ca04-4f9e-bb06-3f51ff78eaa9&t=6b2cf982-ca04-4f9e-bb06-3f51ff78eaa9&width=999&cache=v2)
view()视角view(3)
line()绘制三维图
三维曲面绘图
surf()带颜色的曲面
contour3()等高线
contour()三维在平面的投影showtest on
contourf()网格可以填充
mesh()网格没有填充
meshc()mesh+contour
meshz()
绘制交点和交线
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F2d844405-20a7-494d-be95-e8ae8da68c1e%2FUntitled.png?table=block&id=4f08bdb0-5fdc-4b76-b1b3-b51e70241181&t=4f08bdb0-5fdc-4b76-b1b3-b51e70241181&width=956&cache=v2)
图像句柄
gcf背景
gca轴
概率统计
bar
NaN
bar3()柱状图
pie()饼图
randn()正态分布的随机数
时间轴和现金流
cfplot()
cfamounts()
period()
机器人工具箱
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F76576b91-bc93-46d1-96a1-6bea042ae935%2FUntitled.png?table=block&id=b500c830-06e4-40dc-ba85-db59984d1afe&t=b500c830-06e4-40dc-ba85-db59984d1afe&width=665&cache=v2)
建模
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Fe27715e9-1a03-4083-aa42-a7defab8bc31%2FUntitled.png?table=block&id=62a3f541-b186-44cb-b5cf-604d080bba7c&t=62a3f541-b186-44cb-b5cf-604d080bba7c&width=709.9750366210938&cache=v2)
机器人工具箱
安装
2、安装库的显示
![notion image](https://www.notion.so/image/https%3A%2F%2Fprod-files-secure.s3.us-west-2.amazonaws.com%2Fe913ac6d-f3f6-4918-a517-dc139904f73c%2Ff7ba2115-1cb1-4085-9540-c60cfbb263e4%2FUntitled.png?table=block&id=a95e606c-a051-423f-854e-50c17fd8b889&t=a95e606c-a051-423f-854e-50c17fd8b889&width=1594&cache=v2)
执行代码
function blkStruct=slblocks
blkStruct.Name=['Robot' sprintf('\n') 'ToolBox'];
blkStruct.OpenFcn='roblocks';
教学机器人工具箱最新的10.4()学习日期2024年3月
学习笔记
1、指令rtbdemo
![notion image](https://www.notion.so/image/https%3A%2F%2Fprod-files-secure.s3.us-west-2.amazonaws.com%2Fe913ac6d-f3f6-4918-a517-dc139904f73c%2F6aee3606-0b71-4950-a91d-ed8685916d57%2FUntitled.png?table=block&id=f669e170-9010-49b6-bcda-62e66b89dea5&t=f669e170-9010-49b6-bcda-62e66b89dea5&width=633.0625&cache=v2)
rotx(pi/2/pi*180)括号中默认的是角度
scara的标准DH代码
clc
clear all;
clf;
close all;
%% 建立SCARA机器人仿真模型
l=[0.475 0.325];
L(1) = Link('d',0,'a',l(1),'alpha',0,'standard','qlim',[-130 130]*pi/180);
L(2) = Link('d',0,'a',l(2),'alpha',pi,'standard','qlim',[-145 145]*pi/180);
L(3) = Link('theta',0,'a',0,'alpha',0,'standard','qlim',[0 0.3]);
L(4) = Link('d',0,'a',0,'alpha',0,'standard','qlim',[-360 360]*pi/180);
scara=SerialLink(L,'name','SCARA Robot');
q0=[0 0 0 0];
scara.plot(q0);
scara.teach(q0);
%% SCARA机器人工作空间绘制
qL=scara.qlim ;
N =10000;
ws_q = zeros (N ,4);
a = rand( size ( ws_q));
for j =1:N
for i =1:4
ws_q(j , i )=qL ( i ,1)+( qL ( i ,2)- qL ( i ,1))* a ( j , i );
end
ws_x =l(1)* cos ( ws_q (:,1))+l(2)* cos ( ws_q (:,1) + ws_q (:,2));
ws_y =l(1)* sin ( ws_q (:,1))+l(2)* sin ( ws_q (:,1)+ws_q (:,2));
ws_z =- ws_q (:,3);
figure ('Name','Scara 机器人工作空间')
plot3( ws_x , ws_y , ws_z ,' r.' )
grid ;
xlabel (' X '); ylabel (' Y '); zlabel (' Z ');
%% 轨迹规划
qA = input (' Enter the A :');
qB = input (' Enter the B :');
t =0:0.05:2;
[ q , qd , qdd ]= jtraj ( qA , qB , t );
%% 正运动学仿真
T = double ( scara.fkine ( q ));
[ x , y , z ]=transl( T );
%% 绘制曲线图
figure ('Name','"SCARA Robot"机器人正运动学演示');
plot ( scara , q )
figure ('Name','机器人末端运动轨迹');
plot3(x,y,z,'r-o','MarkerFaceColor','r');
grid ;
xlabel (' X '); ylabel (' Y '); zlabel (' Z ');
figure ('Name','各关节的位移、速度和加速度曲线');
subplot (3,4,1);
plot (t,q(:,1));
title ('关节1');
grid;
ylabel('位移(rad )');
subplot (3,4,5);
plot(t,qd(:,1));
grid;
ylabel ('速度( rad/s )');
subplot (3,4,9);
plot (t,qdd (:,1));
grid;
xlabel('时间(s)'); ylabel ('加速度(rad/s^2)');
subplot (3,4,2);
plot(t,q(:,2));
title('关节2');
grid;
subplot(3,4,6);
plot(t,qd(:,2));
grid;
subplot(3,4,10);
plot(t,qdd(:,2));grid ;
xlabel('时间( s )');
subplot(3,4,3);
plot(t,q(:,3));
title('关节3');
grid;
subplot(3,4,7);
plot(t,qd(:,3));
grid ;
subplot(3,4,11);
plot(t,qdd(:,3));
grid;
xlabel('时间( s )');
subplot (3,4,4);
plot(t,q(:,4));
title('关节4');
grid;
subplot(3,4,8);
plot(t,qd(:,4));
grid;
subplot(3,4,12);
plot(t,qdd(:,4));
grid;
xlabel('时间( s )');
常见函数
![notion image](https://www.notion.so/image/https%3A%2F%2Fprod-files-secure.s3.us-west-2.amazonaws.com%2Fe913ac6d-f3f6-4918-a517-dc139904f73c%2Fe41eff01-3281-429a-83d9-e341643da013%2FUntitled.png?table=block&id=c6fa9ded-0829-4853-82ff-5640bbb966c4&t=c6fa9ded-0829-4853-82ff-5640bbb966c4&width=1307&cache=v2)
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工作空间的可视化
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轨迹规划
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教程SW和matlab联合使用
基础知识
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运动学1建立机器人模型
1、Link类
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2、SerialLink类
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scara机器人的运动学模型全套包括正逆解等等(本人实测可用)
scara运动学轨迹等等放在一个文件夹运行
基础知识
整数
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浮点数
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复数
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数据i显示格式
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函数句柄
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单元数组
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结构体类型
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关系运算符号
![notion image](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F3b43e264-c248-43c6-979b-68bb5d79046d%2FUntitled.png?table=block&id=aea96133-d4f5-4df6-97e4-0664b26c070b&t=aea96133-d4f5-4df6-97e4-0664b26c070b&width=1216&cache=v2)
日期和时间
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TMRobot-Series-Toolbox
joaolobatopereira117 • Updated Apr 13, 2022
大学课程书籍来源
机器人控制系统设计与仿真 高等教育出版社
有关matlab机器人工具箱使用上的问题,欢迎您在底部评论区留言,一起交流~
网页会定期更新学习内容丰富资源可以收藏保存哟。
学了这么多知识给可爱的小助理一个奶茶钱,让她拉你进群结交更多的大佬一起学习吧!!
![notion image](https://www.notion.so/image/https%3A%2F%2Fprod-files-secure.s3.us-west-2.amazonaws.com%2Fe913ac6d-f3f6-4918-a517-dc139904f73c%2Fb5a3ac30-6e5a-41f7-939e-544f4b0dde61%2F759d79443bab36aa8b7ad41f0a5c592.jpg?table=block&id=c34705a0-3562-4769-abb0-b90218324a86&t=c34705a0-3562-4769-abb0-b90218324a86&width=144&cache=v2)
- 作者:Robotqu
- 链接:https://www.robotqu.com/article/matlab
- 声明:本文采用 CC BY-NC-SA 4.0 许可协议,转载请注明出处。