forward_kinematics=bot.fkine([-0.20.1100.112])%前向运动学 在世界坐标系的雅克比矩阵MATLAB代码: 1%求解Stanford arm在世界坐标系描述的雅克比矩阵2clear;3clc;4clear L5%th d a alpha6L(1) = Link([000-pi/20]);%定义连杆7L(2) = Link([010pi/20]);8L(3) = Link([00001]);9L(4) = Link(...
输入D-H参数θ、d、α、aL(2)=Link([00a20]);two_link=SerialLink(L,'name','two link');%建立完整的机械臂对象TOOL=two_link.fkine([q1q2])%fkine函数是foward kinematics的缩写,即正运动学求解%返回末端位姿的齐次变换矩阵x=TOOL.t(1
⾸先是正运动学求解代码 ( ⽤DH参数表为UR5) function T = zhengyundongxue(theta) %已知关节⾓求变换矩阵 a=[0,-0.42500,-0.39225,0,0,0] ; d=[0.089159,0,0,0.10915,0.09465,0.08230] ; alpha=[pi/2,0,0,pi/2,-pi/2,0] ; T01=T_ pa a(theta(1),d(1),a(1),alpha(1)) ; T...