机械仿真基于matlab水下机器人机械手系统仿真含Matlab源码 1264期
Posted 紫极神光
tags:
篇首语：本文由小常识网(cha138.com)小编为大家整理，主要介绍了机械仿真基于matlab水下机器人机械手系统仿真含Matlab源码 1264期相关的知识，希望对你有一定的参考价值。
一、简介
理论知识参照：基于重心调节的水下机器人—机械手系统姿态控制技术研究
二、部分源代码
classdef UvmsDynamics
properties
uvms_kinematics;
tau_c;
end
properties(Constant)
%% Robot System Parameters
% mass of link
m0 = 60;
m1 = 4.2;
m2 = 1;
m3 = 1;
% inertia matrix of link
I_0_0 = diag([3.368 3.553 6.244]);
I_1_1 = diag([19.11*1e-3 15.56*1e-3 7.54*1e-3]);
I_2_2 = diag([13.97*1e-3 24.66*1e-3 12.19*1e-3]);
I_3_3 = diag([13.97*1e-3 24.66*1e-3 12.19*1e-3]);
%% Gravitational Acceleration
g_I = [0; 0; -9.81];
%% Hydrodynamic Effects
% fluid density
rho = 1000;
% drag coefficients
Cd0 = 0.47; % sphere
Cd1 = 1.1; % cylinder
Cd2 = 1.1; % cylinder
Cd3 = 1.1; % cylinder
end
methods
function obj = UvmsDynamics(uvms_kinematics)
if nargin == 1
obj.uvms_kinematics = uvms_kinematics;
obj.tau_c = zeros(9,1);
else
error('Not enough parameters');
end
end
%% Direct Dynamics
function obj = DirectDynamics(obj, vf_I, af_I)
[M, C, Fe] = obj.GetModelParameters(vf_I, af_I);
obj.uvms_kinematics.dzeta = M\\(obj.tau_c - C - Fe);
end
%% Model Parameters
function [M, C, Fe] = GetModelParameters(obj, vf_I, af_I)
% generalized velocity
v = obj.uvms_kinematics.v;
omega = obj.uvms_kinematics.omega;
dq1 = obj.uvms_kinematics.dq(1);
dq2 = obj.uvms_kinematics.dq(2);
dq3 = obj.uvms_kinematics.dq(3);
zeta = obj.uvms_kinematics.zeta;
% rotation matrix
R_0_I = obj.uvms_kinematics.get_R_0_I();
R_1_0 = obj.uvms_kinematics.get_R_1_0();
R_2_1 = obj.uvms_kinematics.get_R_2_1();
R_2_0 = obj.uvms_kinematics.get_R_2_0();
R_3_0 = obj.uvms_kinematics.get_R_3_0();
% coordinate origin
[po_1_0, po_2_1, po_3_2] = obj.uvms_kinematics.GetCoordinateOrigin();
% position vector of center of mass
[pc_0_0, pc_1_1, pc_2_2, pc_3_3] = obj.uvms_kinematics.GetCenterOfMass();
% distance vector between C.M.
[dc_1_0, dc_2_0, dc_3_0] = obj.uvms_kinematics.GetDistanceBetweenCM();
% radius of vehicle
r0 = (obj.uvms_kinematics.Lx*obj.uvms_kinematics.Ly*obj.uvms_kinematics.Lz/8)^(1/3);
% volume of link
[V0, V1, V2, V3] = obj.GetVolume();
% inertia matrix of link
[I_1_0, I_2_0, I_3_0] = obj.GetInertiaMatrix();
% added mass matrix
[Ia_0_0, Ia_1_0, Ia_2_0, Ia_3_0] = obj.GetAddedMassMatrix();
% gravitational acceleration
g_0 = R_0_I'*obj.g_I;
% fluid velocity & acceleration
vf_0 = R_0_I'*vf_I;
af_0 = R_0_I'*af_I;
%% Coefficients of Derivative of Position Vector
% dp
A_dq1_1 = obj.S(obj.uvms_kinematics.z_1_0)*R_1_0*pc_1_1;
A_dq1_2 = obj.S(obj.uvms_kinematics.z_1_0)*R_1_0*(R_2_1*pc_2_2 + po_2_1);
A_dq2_2 = R_1_0*obj.S(obj.uvms_kinematics.y_2_1)*R_2_1*pc_2_2;
A_dq1_3 = obj.S(obj.uvms_kinematics.z_1_0)*R_1_0*(R_2_1*(pc_3_3 + po_3_2) + po_2_1);
A_dq2_3 = R_1_0*obj.S(obj.uvms_kinematics.y_2_1)*R_2_1*(pc_3_3 + po_3_2);
A_dq3_3 = R_1_0*R_2_1*obj.uvms_kinematics.z_2_2;
% ddp
B_ddq1_1 = obj.S(obj.uvms_kinematics.z_1_0)*R_1_0*pc_1_1;
B_dq1sqr_1 = obj.S(obj.uvms_kinematics.z_1_0)^2*R_1_0*pc_1_1;
B_ddq1_2 = obj.S(obj.uvms_kinematics.z_1_0)*R_1_0*(R_2_1*pc_2_2 + po_2_1);
B_ddq2_2 = R_1_0*obj.S(obj.uvms_kinematics.y_2_1)*R_2_1*pc_2_2;
B_dq1sqr_2 = obj.S(obj.uvms_kinematics.z_1_0)^2*R_1_0*(R_2_1*pc_2_2 + po_2_1);
B_dq2sqr_2 = R_1_0*obj.S(obj.uvms_kinematics.y_2_1)^2*R_2_1*pc_2_2;
B_dq1dq2_2 = 2*obj.S(obj.uvms_kinematics.z_1_0)*R_1_0*obj.S(obj.uvms_kinematics.y_2_1)*R_2_1*pc_2_2;
B_ddq1_3 = obj.S(obj.uvms_kinematics.z_1_0)*R_1_0*(R_2_1*(pc_3_3 + po_3_2) + po_2_1);
B_ddq2_3 = R_1_0*obj.S(obj.uvms_kinematics.y_2_1)*R_2_1*(pc_3_3 + po_3_2);
B_ddq3_3 = R_1_0*R_2_1*obj.uvms_kinematics.z_2_2;
B_dq1sqr_3 = obj.S(obj.uvms_kinematics.z_1_0)^2*R_1_0*(R_2_1*(pc_3_3 + po_3_2) + po_2_1);
B_dq2sqr_3 = R_1_0*obj.S(obj.uvms_kinematics.y_2_1)^2*R_2_1*(pc_3_3 + po_3_2);
B_dq1dq2_3 = 2*obj.S(obj.uvms_kinematics.z_1_0)*R_1_0*obj.S(obj.uvms_kinematics.y_2_1)*R_2_1*(pc_3_3 + po_3_2);
B_dq1dq3_3 = 2*obj.S(obj.uvms_kinematics.z_1_0)*R_1_0*R_2_1*obj.uvms_kinematics.z_2_2;
B_dq2dq3_3 = 2*R_1_0*obj.S(obj.uvms_kinematics.y_2_1)*R_2_1*obj.uvms_kinematics.z_2_2;
%% Jacobian Matrix
% angular velocity
J_omega_0 = [zeros(3,3) eye(3) zeros(3,3)];
J_omega_1 = [zeros(3,3) eye(3) obj.uvms_kinematics.z_1_0 zeros(3,2)];
J_omega_2 = [zeros(3,3) eye(3) obj.uvms_kinematics.z_1_0 R_1_0*obj.uvms_kinematics.y_2_1 zeros(3,1)];
J_omega_3 = J_omega_2;
% linear velocity
J_v_0 = [eye(3) zeros(3,3) zeros(3,3)];
J_v_1 = [eye(3) -obj.S(dc_1_0) A_dq1_1 zeros(3,2)];
J_v_2 = [eye(3) -obj.S(dc_2_0) A_dq1_2 A_dq2_2 zeros(3,1)];
J_v_3 = [eye(3) -obj.S(dc_3_0) A_dq1_3 A_dq2_3 A_dq3_3];
% angular acceleration
J_alpha_dzeta_0 = [zeros(3,3) eye(3) zeros(3,3)];
J_alpha_dzeta_1 = [zeros(3,3) eye(3) obj.uvms_kinematics.z_1_0 zeros(3,2)];
J_alpha_dzeta_2 = [zeros(3,3) eye(3) obj.uvms_kinematics.z_1_0 R_1_0*obj.uvms_kinematics.y_2_1 zeros(3,1)];
J_alpha_dzeta_3 = J_alpha_dzeta_2;
J_alpha_zeta_0 = zeros(3,9);
J_alpha_zeta_1 = [zeros(3,3) -0.5*obj.S(obj.uvms_kinematics.z_1_0)*dq1 -0.5*obj.S(obj.uvms_kinematics.z_1_0)*omega zeros(3,2)];
J_alpha_zeta_2 = [zeros(3,3) -0.5*(obj.S(obj.uvms_kinematics.z_1_0)*dq1+obj.S(R_1_0*obj.uvms_kinematics.y_2_1)*dq2) ...
-0.5*obj.S(obj.uvms_kinematics.z_1_0)*(omega-R_1_0*obj.uvms_kinematics.y_2_1*dq2) ...
-0.5*(obj.S(R_1_0*obj.uvms_kinematics.y_2_1)*omega-obj.S(obj.uvms_kinematics.z_1_0)*R_1_0*obj.uvms_kinematics.y_2_1*dq1) zeros(3,1)];
J_alpha_zeta_3 = J_alpha_zeta_2;
% linear acceleration
J_a_dzeta_0 = [eye(3) zeros(3,3) zeros(3,3)];
J_a_dzeta_1 = [eye(3) -obj.S(dc_1_0) B_ddq1_1 zeros(3,2)];
J_a_dzeta_2 = [eye(3) -obj.S(dc_2_0) B_ddq1_2 B_ddq2_2 zeros(3,1)];
J_a_dzeta_3 = [eye(3) -obj.S(dc_3_0) B_ddq1_3 B_ddq2_3 B_ddq3_3];
J_a_zeta_0 = [0.5*obj.S(omega) -0.5*obj.S(v) zeros(3,3)];
J_a_zeta_1 = [0.5*obj.S(omega) -(0.5*obj.S(v)+obj.S(A_dq1_1)*dq1) ...
-(obj.S(A_dq1_1)*omega-B_dq1sqr_1*dq1) zeros(3,2)];
J_a_zeta_2 = [0.5*obj.S(omega) -(0.5*obj.S(v)+obj.S(A_dq1_2)*dq1+obj.S(A_dq2_2)*dq2) ...
-(obj.S(A_dq1_2)*omega-B_dq1sqr_2*dq1-0.5*B_dq1dq2_2*dq2) ...
-(obj.S(A_dq2_2)*omega-B_dq2sqr_2*dq2-0.5*B_dq1dq2_2*dq1) zeros(3,1)];
J_a_zeta_3 = [0.5*obj.S(omega) -(0.5*obj.S(v)+obj.S(A_dq1_3)*dq1+obj.S(A_dq2_3)*dq2+obj.S(A_dq3_3)*dq3) ...
-(obj.S(A_dq1_3)*omega-B_dq1sqr_3*dq1-0.5*B_dq1dq2_3*dq2-0.5*B_dq1dq3_3*dq3) ...
-(obj.S(A_dq2_3)*omega-B_dq2sqr_3*dq2-0.5*B_dq1dq2_3*dq1-0.5*B_dq2dq3_3*dq3) ...
-(obj.S(A_dq3_3)*omega-0.5*B_dq1dq3_3*dq1-0.5*B_dq2dq3_3*dq2)];
%% Model Parameters
% inertia matrix (including added mass)
M0 = [J_v_0; J_omega_0]'*([obj.m0*J_a_dzeta_0; obj.I_0_0*J_alpha_dzeta_0] + Ia_0_0*[J_a_dzeta_0; J_alpha_dzeta_0]);
M1 = [J_v_1; J_omega_1]'*([obj.m1*J_a_dzeta_1; I_1_0*J_alpha_dzeta_1] + Ia_1_0*[J_a_dzeta_1; J_alpha_dzeta_1]);
M2 = [J_v_2; J_omega_2]'*([obj.m2*J_a_dzeta_2; I_2_0*J_alpha_dzeta_2] + Ia_2_0*[J_a_dzeta_2; J_alpha_dzeta_2]);
M3 = [J_v_3; J_omega_3]'*([obj.m3*J_a_dzeta_3; I_3_0*J_alpha_dzeta_3] + Ia_3_0*[J_a_dzeta_3; J_alpha_dzeta_3]);
M = M0 + M1 + M2 + M3;
% vector of Coriolis and centripetal terms (including added mass)
C0 = [J_v_0; J_omega_0]'*([obj.m0*J_a_zeta_0; obj.I_0_0*J_alpha_zeta_0+obj.S(J_omega_0*zeta)*obj.I_0_0*J_omega_0]*zeta ...
+ Ia_0_0*[J_a_zeta_0*zeta-af_0-obj.S(J_omega_0*zeta)*(J_v_0*zeta-vf_0); J_alpha_zeta_0*zeta-obj.S(J_omega_0*zeta)*J_omega_0*zeta] ...
+ [obj.S(J_omega_0*zeta) zeros(3,3); obj.S(J_v_0*zeta-vf_0以上是关于机械仿真基于matlab水下机器人机械手系统仿真含Matlab源码 1264期的主要内容，如果未能解决你的问题，请参考以下文章
机械仿真基于matlab打桩机运动学仿真含Matlab源码 2101期
机械仿真基于matlab简化几何解法六轴机械臂位置规划含Matlab源码 2128期
机械仿真基于matlab简化几何解法六轴机械臂位置规划含Matlab源码 2128期
机械仿真基于matlab GUI凸轮设计与仿真含Matlab源码 153期