Code Monkey home page Code Monkey logo

rkdpa's Introduction

机器人运动学动力学以及规划算法

本仓库包含串联机器人（六轴机械臂）的运动学和动力学建模，笛卡尔空间和关节空间的轨迹规划，以及机器人阻抗和导纳控制算法(robot kinematic dynamic planning algorithm)，并建立了simscape模型进行可视化仿真。

运行环境

Matlab2018b

依赖

  • Robotics ToolBox -- v10.4
  • MQTT in MATLAB -- v1.4
  • Real-Time Pacer for Simulink -- v1.0.0.1

架构说明

  1. docs/
    机械臂运动学仿真文档，包含机械臂建模，正逆运动学，轨迹规划等内容
  2. src/cfiles/
    机械臂运动控制仿真C++实现
  3. src/classes/
    机械臂运动控制封装代码，主要包含多种轨迹规划与机械臂运动学相关的class
  4. src/simulink/
    基于simscape toolbox搭建的机械臂可视化模型
  5. src/data/
    数据存放区域
  6. src/tools/
    基础功能函数

TODO

  1. 针对角速度的姿态规划器停止
  2. 笛卡尔空间针对不同类型轨迹（圆弧，B样条等）的停止路径
  3. 运动状态下的重新规划（例如在运动过程中，改变原有轨迹，下发新的目标路径点）

rkdpa's People

Contributors

leosource avatar

Watchers

Lucian avatar avatar

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.