Taking humanoid robot as the research object, three degrees of freedom robot arm control system is designed. Firstly, the kinematics model of robot is established by using D H and homogeneous transformation matrix, and the expression of Fang Chengzheng and inverse solution of robot kinematics is derived. The performance of the robot control system is analyzed by MATLAB programming and Simulink simulation. The obtained motion curve can provide reference for the robot's work planning and humanoid robot control.

Filename	Size	Update
程序\guanjiefangzhen\ctrl.m	1461	2015-04-03
程序\guanjiefangzhen\plant.m	1376	2015-04-03
程序\guanjiefangzhen\plot.m	707	2015-04-03
程序\guanjiefangzhen\sim.mdl	19504	2015-05-14
程序\sanziyoudu.mdl	91409	2018-04-22
程序\wo1.slx	23917	2018-04-18
程序\guanjiefangzhen	0	2018-04-24
程序	0	2018-04-27

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