介绍

rigidBodyTree是较新版本的MATLAB(小虎用的是2019b)自带的robotics相关工具箱里面的一个刚体树。它可以实现简单机器人刚体关节的连接仿真,这是在创建模型中使用的。其他详情见官方说明。

将连杆加入刚体树

rbtree=rigidBodyTree;
body1=rigidBody('b1');jnt1=rigidBodyJoint('jnt1','revolute');
body1.Joint=jnt1;basename=rbtree.BaseName;
addBody(rbtree,body1,basename);showdetails(rbtree);

DH参数添加机器人关节连杆

% first column is the distance between z axis(d), first column is angle
% rotate with x axis(\alpha); third is the distance between x axis (a)
dhparams = [0   	pi/2	0   	0;0.4318	0       0       0;0.0203	-pi/2	0.15005	0;0   	pi/2	0.4318	0;0       -pi/2	0   	0;0       0       0       0];
robot=rigidBodyTree;body1 = rigidBody('body1');
jnt1 = rigidBodyJoint('jnt1','revolute');setFixedTransform(jnt1,dhparams(1,:),'dh');
body1.Joint = jnt1;addBody(robot,body1,'base')body2 = rigidBody('body2');
jnt2 = rigidBodyJoint('jnt2','revolute');
body3 = rigidBody('body3');
jnt3 = rigidBodyJoint('jnt3','revolute');
body4 = rigidBody('body4');
jnt4 = rigidBodyJoint('jnt4','revolute');
body5 = rigidBody('body5');
jnt5 = rigidBodyJoint('jnt5','revolute');
body6 = rigidBody('body6');
jnt6 = rigidBodyJoint('jnt6','revolute');setFixedTransform(jnt2,dhparams(2,:),'dh');
setFixedTransform(jnt3,dhparams(3,:),'dh');
setFixedTransform(jnt4,dhparams(4,:),'dh');
setFixedTransform(jnt5,dhparams(5,:),'dh');
setFixedTransform(jnt6,dhparams(6,:),'dh');body2.Joint = jnt2;
body3.Joint = jnt3;
body4.Joint = jnt4;
body5.Joint = jnt5;
body6.Joint = jnt6;addBody(robot,body2,'body1')
addBody(robot,body3,'body2')
addBody(robot,body4,'body3')
addBody(robot,body5,'body4')
addBody(robot,body6,'body5')showdetails(robot)show(robot);
axis([-0.5,0.5,-0.5,0.5,-0.5,0.5])
axis on

修改刚体树模型

load exampleRobots.mat
showdetails(puma1)body3=getBody(puma1,'L3');
childBody=body3.Children{1};body3Copy = copy(body3);
newJoint=rigidBodyJoint('prismatic');
replaceJoint(puma1,'L3',newJoint);showdetails(puma1)

设置刚体树动态特性

设置质点的位置。

robot=rigidBodyTree('DataFormat','row');
body1 = rigidBody('body1');
body2 = rigidBody('body2');joint1 = rigidBodyJoint('joint1','revolute');
joint2 = rigidBodyJoint('joint2');
setFixedTransform(joint2,trvec2tform([1 0 0]))
body1.Joint = joint1;
body2.Joint = joint2;body1.Mass = 2;
body1.CenterOfMass = [0.5 0 0];
body1.Inertia = [0.167 0.001 0.167 0 0 0];body2.Mass = 1;
body2.CenterOfMass = [0 0 0];
body2.Inertia = 0.0001*[4 4 4 0 0 0];addBody(robot,body1,'base');
addBody(robot,body2,'body1');comPos = centerOfMass(robot);show(robot);
hold on
plot(comPos(1),comPos(2),'or')
view(2)body2.Mass = 20;
replaceBody(robot,'body2',body2)comPos2 = centerOfMass(robot);
plot(comPos2(1),comPos2(2),'*g')
hold off

外力作用导致关节的移动

load exampleRobots.mat lbr
lbr.DataFormat = 'row';
lbr.Gravity = [0 0 -9.81];% z axis direction
q = homeConfiguration(lbr);
wrench=[0 0 0.5 0 0 0.3];
fext=externalForce(lbr,'tool0',wrench,q);
qddot = forwardDynamics(lbr,q,[],[],fext);

载入自带机器人模型并显示

robot = importrobot('iiwa14.urdf');
show(robot);