Research On Robot Motion Simulation Based On MATLAB

Along with the development of science and technology,people growing demand for quality of life,which in many cases,the robots can replace people to accomplish a variety of complex,tedious,and danger,and bad work environment,the demand for robots is becoming more and more widely,including entertainment,services,medical,military and so on,therefore the development of robot is an important field in the future.But the cost is high,the material requirements strictly due to the robot itself,technology is difficult,security,and many other factors,makes the robot's actual learning,research,less extensive and convenient use,use only a small study.In this case,using MATLAB as a tool,modeling the robot movement is a convenient way to study the robot.Based on MATLAB simulation software,this paper studies single-joint robot and biped robot.This article first to a single joint robot modeling and simulation study of single joints as an essential part of all robots,robot can be as a part of the bipedal robot arm or leg,as in the hip joints of the lower limbs more leg or knee and calf.In this paper,the trajectory planning of single joint robot is carried out,the mathematical model of mechanical structure model,electric structure model and control structure is established,and the simulation study is carried out in MATLAB.Bipedal robot as a kind of with the human form is the most close to the robot,due to its similarity with the human lower limb,with multiple degrees of freedom,compared to other types of robot more flexible,increase the variability of movement,thus became the robots can replace human work maximum.On the basis of single-joint robot research,the research and discussion of biped robot is further discussed.To complete is the inverse kinematics analysis and establish the mathematical model of planning its trajectory,is realized in MATLAB simulation research,the robot can achieve smooth walk out on set.Finally,based on the uniform motion of the bipedal robot,the simulation analysis of the uniform acceleration motion is carried out considering the various situations of the actual motion of the robot.Finally to robot can achieve smooth movement,not only considering the move up and down the center of gravity,in a bipedal robot waist adds a center of gravity controller,through the regulator around mobile,modeling and use of MATLAB simulation results analysis,the robot can achieve stable walking,the theory of modeling and simulation research for subsequent prototype laid a solid foundation.