正坐标系及矢量知识，点乘与差乘，旋转

逃离我推掉我的手 2022-12-28 00:51 112阅读 0赞

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clear,clc,close all;
    %建立机器人DH参数，初始状态为竖直状态 
    L1=Link('d',144,'a',0,'alpha',0,'modified'); 
    L2=Link('d',0,'a',0,'alpha',pi/2,'offset',-pi/2,'modified'); 
    L3=Link('d',0,'a',-264,'alpha',0,'modified');
    L4=Link('d',106,'a',-236,'alpha',0,'offset',-pi/2,'modified');
    L5=Link('d',114,'a',0,'alpha',pi/2,'modified');
    L6=Link('d',67,'a',0,'alpha',-pi/2,'modified');
    robot=SerialLink([L1 L2 L3 L4 L5 L6],'name','Arm6') ;
    Theta=[0 0 0 0 0 0]; Theta=Theta/180*pi;
     %换算成弧度 
     forwarda=robot.fkine(Theta)
     %求正解的齐次变换矩阵 
     W=[-1000,+1000,-1000,+1000,-1000,+1000];
     robot.plot(Theta,'tilesize',150,'workspace',W);
     %显示三维动画 
    robot.teach(forwarda,'rpy' ) 
    %显示roll/pitch/yaw angles，GUI可调界面

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