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The general control dof robot simulation
ABSTRACT
Robotics is a highly cross frontier disciplines, causing a lot of different professional background (including mechanics, biology, anthropology, computer science and engineering, cybernetics and control engineering, electrical engineering, artificial intelligence, sociology, etc.) people's extensive interest, in-depth study, and won the rapid development.
The graduation design is mainly to the position of the mobile Robot control dof, adopt the PD control method, using MATLAB language, Simulink Robot kit, structures and two degrees Robot geometry model, dynamic model. And constructs the controller model, through to adjust controller parameters of the robot pose dof control, and achieve better control effect.
KEY WORDS: Two degrees of freedom£¬Robot£¬PD control
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1.1 Ô˶¯Ñ§¸ÅÊö ........................................................................... 2
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