向前欧拉法matlab代码--Graduation-Thesis-Code:毕业论文代码

上传者: 38534352 | 上传时间: 2023-02-13 15:32:25 | 文件大小: 1.81MB | 文件类型: ZIP
向前欧拉法matlab代码 -Graduation-Thesis-Code 这个是自己的毕业论文中的代码,运动学的代码推导源自于Mathematica, 其实是可以写成递归的形式,以提高一些效率的,但是想知道末端执行器的具体符号表达式,所以在写运动学那块代码就显得很冗余。 研究的对象以UR5机械臂为例,采用了标准的DH方法建立了所有的运动学/动力学模型,不得不说的是,当初在编写动力学方程的时候,感受到了标准法的不便之处,不少论文给出的是改进的DH法建立的运动学模型,不过没去验证。但是在想,在使用Lagrange法建立的动力学模型去做控制,一个程序岂不是要跑很久很久?一开始也写的动力学方程,只不过不是递归形式下的,卡的令人无语。。。。Newton-Euler法建立的模型还是在实习期间学会的(感谢储工的指导),不过对于matlab而言,还是感觉有些慢了(相对工业来说),不过对于自己的数值仿真而言,已经足够了。由于数值仿真效率缘故,如果使用了ODE求解器,会导致仿真跑好几个小时,当然,这么多的时间用来跑仿真了,而且占用自己计算机资源,未免太浪费,所以将原有的基于ODE仿真的代码删除了,都替换

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