部分代码:
L1 = 0.35;
L2 = 0.305;
L3 = 0.3;
base = [
1, 0, 0, 0
0, 1, 0, 0
0, 0, 1, 0
0, 0, 0, 1
] * trotz(180);
tool = [
1 0 0 0;
0 1 0 0.3;
0 0 1 0;
0 0 0 1
] * troty(-90);
Link1 = Link('a', 0, 'alpha', 0, 'd', 0, 'modified');
Link2 = Link('a', 0, 'alpha', pi / 2, 'd', L1, 'modified');
Link3 = Link('a', 0, 'alpha', -pi / 2, 'd', 0, 'modified');
Link4 = Link('a', 0, 'alpha', pi / 2, 'd', L2, 'offset', pi / 2, 'modified');
Link5 = Link('a', 0, 'alpha', -pi / 2, 'd', 0,'offset',pi,'modified');
robot = SerialLink([Link1, Link2, Link3, Link4, Link5],'base',base, 'tool', tool);
robot.name = "雄克机械臂";
robot.display();
theta = [0, 0, 0, 0, 0] * pi / 180;
robot.teach();
robot.plot(theta);
运行效果: