ABB机器人IRB1200 DH建模 MATLAB程序

以下是ABB机器人IRB1200的DH建模MATLAB程序示例：

syms q1 q2 q3 q4 q5 q6; % 定义符号变量

% DH参数表
dhparams = [0, 0, 290, q1;
            -pi/2, 0, 0, q2;
            0, 270, 0, q3;
            -pi/2, 70, 302, q4;
            pi/2, 0, 0, q5;
            -pi/2, 0, 72, q6];

% 建立机器人模型
robot = robotics.RigidBodyTree();
link1 = robotics.RigidBody('link1');
jnt1 = robotics.Joint('jnt1','revolute');
setFixedTransform(jnt1,dhparams(1,:),'dh');
link1.Joint = jnt1;
robot.addBody(link1,'base');

link2 = robotics.RigidBody('link2');
jnt2 = robotics.Joint('jnt2','revolute');
setFixedTransform(jnt2,dhparams(2,:),'dh');
link2.Joint = jnt2;
robot.addBody(link2,'link1');

link3 = robotics.RigidBody('link3');
jnt3 = robotics.Joint('jnt3','revolute');
setFixedTransform(jnt3,dhparams(3,:),'dh');
link3.Joint = jnt3;
robot.addBody(link3,'link2');

link4 = robotics.RigidBody('link4');
jnt4 = robotics.Joint('jnt4','revolute');
setFixedTransform(jnt4,dhparams(4,:),'dh');
link4.Joint = jnt4;
robot.addBody(link4,'link3');

link5 = robotics.RigidBody('link5');
jnt5 = robotics.Joint('jnt5','revolute');
setFixedTransform(jnt5,dhparams(5,:),'dh');
link5.Joint = jnt5;
robot.addBody(link5,'link4');

link6 = robotics.RigidBody('link6');
jnt6 = robotics.Joint('jnt6','revolute');
setFixedTransform(jnt6,dhparams(6,:),'dh');
link6.Joint = jnt6;
robot.addBody(link6,'link5');

% 启用运动学
robot.Gravity = [0; 0; -9.81];
q = [q1 q2 q3 q4 q5 q6];
kin = robotics.RigidBodyTree('DataFormat','column','MaxNumBodies',6);
addBody(kin,robot.BaseName,'base');
for i = 1:6
    bodyname = sprintf('link%d',i);
    addBody(kin,bodyname,sprintf('jnt%d',i));
end
kin.Gravity = [0; 0; -9.81];
fk = kin.forwardKinematics(q);
position = fk(1:3,4,end);
orientation = tform2quat(fk);

% 显示机器人模型
show(robot);
axis([-1000, 1000, -1000, 1000, -1000, 1000]);
view([30,30,30]);

这个程序可以建立机器人的运动学模型，并显示机器人的3D模型。你可以根据自己的需求进行修改和扩展。