【正文】 器人的動(dòng)力，所以開(kāi)始就簡(jiǎn)要介紹了機(jī)器人MOTOMANHP，棒改造，運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)方程，如方程一些基本的姿勢(shì)。然后用MATLAB計(jì)算機(jī)器人MOTOMANHP每個(gè)磁極的角學(xué)習(xí)機(jī)器人軌跡規(guī)劃的問(wèn)題，主要是對(duì)機(jī)器人關(guān)節(jié)軌跡內(nèi)插計(jì)算來(lái)確定每個(gè)關(guān)節(jié)的運(yùn)動(dòng)軌跡，并且角加速度機(jī)器人來(lái)解決各棒，最后寫(xiě)接口，并利用MATLAB數(shù)學(xué)和圖形顯示機(jī)器人關(guān)節(jié)的運(yùn)動(dòng)軌跡。聯(lián)合軌跡MOTOMANHP機(jī)器人的使用三次多項(xiàng)式函數(shù)和五個(gè)多項(xiàng)式插補(bǔ)功能插補(bǔ)，主要MOTMANHP機(jī)器人軌跡被稱為插值。并利用MATLAB GUI功能準(zhǔn)備解決角加速度機(jī)器人接口，而MATLAB仿真。 軌跡規(guī)劃是一個(gè)復(fù)雜的過(guò)程中，由于環(huán)境因素，如機(jī)器人和處理他們的許多業(yè)務(wù)的影響，以及如何將它們放在一起加以考慮，并制定了符合系統(tǒng)算法的各種情況是必要的。這些算法是今后工作的研究項(xiàng)目的重點(diǎn)。因?yàn)槲覀儗儆跈C(jī)器人軌跡規(guī)劃是規(guī)劃布局規(guī)劃，對(duì)今后的工作方向應(yīng)根據(jù)傳感器的路徑規(guī)劃，它具有自動(dòng)規(guī)劃功能，而且更實(shí)際的意義，為了更好地服務(wù)于社會(huì)和生產(chǎn)。 致 謝本文是在老師的悉心關(guān)懷和指導(dǎo)下完成的,韋老師對(duì)我的論文的選題、修改和定稿一直給予精心的指導(dǎo)，并提出了大量的修改意見(jiàn)。在做畢業(yè)設(shè)計(jì)這段時(shí)間里，我學(xué)會(huì)了很多知識(shí)，提高了獨(dú)立思考和解決問(wèn)題的能力，鞏固了以往所學(xué)的知識(shí)，這為我以后走上工作崗位奠定了堅(jiān)實(shí)的基礎(chǔ)。 在課題的研究和論文撰寫(xiě)的過(guò)程中，趙轉(zhuǎn)哲老師對(duì)我在MATLAB的學(xué)習(xí)上給予了很多幫助，在此表示深深的謝意！同時(shí)，也得到了本組同學(xué)的大力協(xié)助，在此一并表示感謝！最后還要感謝我的父母和答辯組的各位老師。 參考文獻(xiàn)[1] [M].北京：清華大學(xué)出版社，[2] [M].西安：西安電子科技大學(xué)出版社，[3] Edward [M].北京：電子工業(yè)出版社，[4] [D].湖南大學(xué),2004.[5] 王仲民,崔世鋼,[J].機(jī)床與液壓,2002,(05).[6] Saeed to RoboticsAnalysis,Systems,Applocations[D].publishing House of Electronics [7] 徐向榮, 馬香峰. 機(jī)器人運(yùn)動(dòng)軌跡規(guī)劃分析與算法[J]. 機(jī)器人, 1988,(06)[8] . , modelling and implementation of a 6 URS parallel hapticdevice[D]. de la Universidad s/n, E03202 Elche, Spain，2004[9] 高征,[J].機(jī)械制造,506(44).[10] [D].沈陽(yáng)：沈陽(yáng)工業(yè)大學(xué)，[11] 張鐵,:華南理工大學(xué)出版社,[12] :上海交通大學(xué)出版社,1992[13] :機(jī)械工業(yè)出版社,[14] :化學(xué)工業(yè)出版社,[15] :機(jī)械工業(yè)出版社,[16] 林瑞林,1998(9):6~8.[17] 蔡自興,機(jī)器人,1987第3期.[18] [19] 鄧宇,梁飛華,(嵌入式與SOC).2007年第23卷第42期.[20] 胡中華,陳煥明,2006,(05)[21] ,2005.[22] Robotool project, advanced kinematics for manufacturing applications, CEC Project BE974177, November 2001.[23] T. Brogardh, Design of high performance parallel arm robots for industrial applications, in：Proceedings of the Symposium onCommemorating the Legacy, Works, and Life of Sir Robert Ball, University of Cambridge, July 9–11, 2000.[24] . Pennock, . Dassner, Kinematic analysis of a planar eightbar linkage – application to a platform – type robot, ASME Journal of Mechanical Design 144 (1992) 87~95.[25] 王魯敏,2005,(09).[26] ，[27] 干敏耀. 基于MATLAB的PUMA機(jī)器人運(yùn)動(dòng)學(xué)仿真[J].昆明：附錄 C：主要源程序1. MOTOMANHP機(jī)器人關(guān)節(jié)角運(yùn)動(dòng)的插值程序(1) 三次多項(xiàng)式函數(shù)插值程序sqr=@(t)t.^2。lif=@(t)t.^3。t=[0::3]。y=15+20*sqr(t)*lif(t)。 table=[t,y]。[p,s]=polyfit(t,y,3)y1=polyval(p,t)plot(t,y,39。or39。,t,y1,39。k39。)grid onsqr=@(t)t.^2。t=[0::3]。y=40**sqr(t)。table=[t,y]。[p,s]=polyfit(t,y,3)。y1=polyval(p,t)。plot(t,y,39。or39。,t,y1,39。k39。)。grid ont=[0::3]。y=*t。table=[t,y]。[p,s]=polyfit(t,y,3)。y1=polyval(p,t)。plot(t,y,39。or39。,t,y1,39。k39。)。grid on(1) 五次多項(xiàng)式函數(shù)插值程序sqr=@(t)t.^2。sanci=@(t)t.^3。sici=@(t)t.^4。wuci=@(t)t.^5。t=[0::5]。y=30+*sqr(t)+*sanci(t)*sici(t)+*wuci(t)。table=[t,y]。[p,s]=polyfit(t,y,5)。y1=polyval(p,t)。plot(t,y,39。or39。,t,y1,39。k39。)。grid onsqr=@(t)t.^2。sanci=@(t)t.^3。sici=@(t)t.^4。t=[0::5]。y=5*t+*sqr(t)*sanci(t)+*sici(t)。table=[t,y]。[p,s]=polyfit(t,y,5)。y1=polyval(p,t)。plot(t,y,39。or39。,t,y1,39。k39。)。grid onsqr=@(t)t.^2。sanci=@(t)t.^3。t=[0::5]。y=5+**sqr(t)+*sanci(t)。table=[t,y]。[p,s]=polyfit(t,y,5)。y1=polyval(p,t)。plot(t,y,39。or39。,t,y1,39。k39。)。grid on2. MOTOMANHP機(jī)器人各桿角加速度計(jì)算界面程序function edit18_CreateF(hObject, eventdata, handles)% hObject handle to edit18 (see GCBO)% eventdata reserved to be defined in a future version of MATLAB% handles empty handles not created until after all CreateFs called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc set(hObject,39。BackgroundColor39。,39。white39。)。elseset(hObject,39。BackgroundColor39。,get(0,39。defaultUicontrolBackgroundColor39。))。end% Executes on button press in pushbutton2.function pushbutton2_Callback(hObject, eventdata, handles)% hObject handle to pushbutton2 (see GCBO)% eventdata reserved to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)a=str2num(get(,39。string39。))。%gan1b=str2num(get(,39。string39。))。%gan2c=str2num(get(,39。string39。))。%gan3d=str2num(get(,39。string39。))。%gan4e=str2num(get(,39。string39。))。%gan5f=str2num(get(,39。string39。))。%gan6%beginA=str2num(get(,39。string39。))。%gan1B=str2num(get(,39。string39。))。%gan2C=str2num(get(,39。string39。))。%gan3D=str2num(get(,39。string39。))。% gan4E=str2num(get(,39。string39。))。% gan5F=str2num(get(,39。string39。))。% gan6%finisht=str2num(get(,39。string39。))。%suoqiushikedianT=str2num(get(,39。string39。))。%wanchengdongzuo zongshijian%shuruliangg=(3/T^2)*(Aa)。%g,hgan1canshuh=(2/T^3)*(Aa)。o=2*g6*h*t。%gan1 jiasudui=(3/T^2)*(Bb)。%j,igan2canshuj=(2/T^3)*(Bb)。p=2*i6*j*t。%gan2 jiasuduk=(3/T^2)*(Cc)。%k,lgan3canshu l=(2/T^3)*(Cc)。q=2*k6*l*t。%gan3 jiasudum=(3/T^2)*(Dd)。%k,lgan4canshu n=(2/T^3)*(Dd)。r=2*m6*n*t。%gan4 jiasuduu=(3/T^2)*(Ee)。%k,lgan5canshu v=(2/T^3)*(Ee)。s=2*u6*v*t。%gan5 jiasudux=(3/T^2)*(Ff)。%k,lgan6canshu y=(2/T^3)*(Ff)。z=2*x6*y*t。%gan6 jiasuduif t=Tset(,39。string39。,o)。set(,39。string39。,p)。set(,39。string39。,q)。set(,39。string39。,r)。set(,39。string39。,s)。set(,39。string39。,z)。%shikedian zai zongshijian neielseset(,39。string39。,39。039。)。set(,39。string39。,39。039。)。set(,39。string39。,39。039。)。set(,39。string39。,39。039。)。set(,39。string39。,39。039。)。set(,39。string39。,39。039。)。%shikedian bu zai zongshijianneiend%shu chu liang為你提供優(yōu)秀的畢業(yè)論文參考資料，請(qǐng)您刪除以下內(nèi)容，O(∩_∩)O謝謝?。?！2 Many people have the same mixed feelings when planning a trip during Golden Week. With heaps of time, the sevenday Chinese為你提供優(yōu)秀的畢業(yè)論文設(shè)計(jì)參考資料，請(qǐng)您刪除一下內(nèi)容，O(∩_∩)O謝謝?。。ational Day holiday could be the best occasion to enjoy a destination. However, it can also be the easiest way to ruin how you feel about a place and you may bee more fatigued after the holiday, due to battling the large crowds. During peak season, a dream about a place can turn to nightmare without careful planning, especially if you travel with children and older people. As most Chinese people will take t