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robot models -凯发k8网页登录

rigid body tree models, forward kinematics, dynamics, joint- and task-space motion models

robot models simulate the kinematic and dynamic properties of manipulator robots and other rigid body systems. the models are objects containing and elements with joint transformations and inertial properties.

access predefined models for certain commercial robots, such as kinova™ and kuka™, using the loadrobot function.

import existing udrf or simscape™ multibody™ models using importrobot.

model the motion of the robots using joint- or task-space motion models as and objects.

functions

importrobotimport rigid body tree model from urdf, xacro, sdf file, text, or simscape multibody model
loadrobotload rigid body tree robot model
create tree-structured robot
create a rigid body
create a joint
interact with rigid body tree robot models
model rigid body tree motion given joint-space inputs
model rigid body tree motion given task-space reference inputs
get transform between body frames
generate random configuration of robot
get home configuration of robot
show robot model in figure
center of mass position and jacobian
compose external force matrix relative to base
joint accelerations given joint torques and states
geometric jacobian for robot configuration
joint torques that compensate gravity
required joint torques for given motion
joint-space mass matrix
joint torques that cancel velocity-induced forces

blocks

joint accelerations given joint torques and states
required joint torques for given motion
geometric jacobian for robot configuration
get transform between body frames
joint torques that compensate gravity
joint-space mass matrix for robot configuration
joint torques that cancel velocity-induced forces
model rigid body tree motion given joint-space inputs
model rigid body tree motion given task-space inputs

topics

kinematics


  • explore the structure and specific components of a rigid body tree robot model.

  • this example goes through the process of building a robot step by step, showing you the different robot components and how functions are called to build it.

  • use the denavit-hartenberg (dh) parameters of the puma560® manipulator robot to incrementally build a rigid body tree robot model.

  • use add-on to add robot mesh data.

dynamics


  • this topic details the different elements, properties, and equations of rigid body robot dynamics.

  • generate torques to balance an endpoint force acting on the end-effector body of a planar robot.

simulation


  • set up a ur10 robot model to perform co-simulation between gazebo and simulink™.

  • simulate control of a robotic manipulator using co-simulation between simulink and gazebo.
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