臂型角参数化求逆解代码1

以下是一个Python示例代码，用于将七自由度机械臂的臂型角转换为关节角度：

```python

import numpy as np

# 机械臂的设计参数

L1 = 1.0 # 第一段臂长

L2 = 1.0 # 第二段臂长

L3 = 1.0 # 第三段臂长

L4 = 1.0 # 第四段臂长

L5 = 1.0 # 第五段臂长

L6 = 1.0 # 第六段臂长

L7 = 1.0 # 第七段臂长

# 将臂型角转换为关节角度

def inverse_kinematics(theta1, theta2, theta3, theta4, theta5, theta6, theta7):

# 计算第一段关节角度

a = L2 * np.cos(theta2) + L3 * np.cos(theta2 + theta3) + L4 * np.cos(theta2 + theta3 + theta4)

b = L2 * np.sin(theta2) + L3 * np.sin(theta2 + theta3) + L4 * np.sin(theta2 + theta3 + theta4)

theta1 = np.arctan2(b, a) - np.arctan2(L1, np.sqrt(a**2 + b**2 - L1**2))

 

# 计算第二段关节角度

a = L2 * np.cos(theta2) + L3 * np.cos(theta2 + theta3) + L4 * np.cos(theta2 + theta3 + theta4)

b = L2 * np.sin(theta2) + L3 * np.sin(theta2 + theta3) + L4 * np.sin(theta2 + theta3 + theta4)

c = np.sqrt(a**2 + b**2 - L1**2)

theta2 = np.arctan2(b - c*np.sin(theta1), a - c*np.cos(theta1)) - np.arctan2(L1*np.sin(theta1), L1*np.cos(theta1) - c)

 

# 计算第三段关节角度

s5 = np.sin(theta5)

c5 = np.cos(theta5)

s6 = np.sin(theta6)

c6 = np.cos(theta6)

s7 = np.sin(theta7)

c7 = np.cos(theta7)

a = L5*c5 + L6*s5*c6 + L7*(s5*c6*c7 - c5*s7)

b = L6*s6 + L7*(c6*c7)

c = L4*np.cos(theta2 + theta3 + theta4) + L5*np.cos(theta2 + theta3)*s5 - L6*np.sin(theta2 + theta3)*c6 - L7*np.sin(theta2 + theta3)*s5*s7 + L7*np.cos(theta2 + theta3)*c6*c7

d = L4*np.sin(theta2 + theta3 + theta4) + L5*np.sin(theta2 + theta3)*s5 + L6*np.cos(theta2 + theta3)*c6 + L7*np.cos(theta2 + theta3)*s5*s7 + L7*np.sin(theta2 + theta3)*c6*c7

e = np.sqrt(a**2 + b**2)

theta3 = np.arctan2(d, c) - np.arctan2(e, L2)

 

# 计算第四段关节角度

a = L5*c5 + L6*s5*c6 + L7*(s5*c6*c7 - c5*s7)

b = L6*s6 + L7*(c6*c7)

c = L4*np.cos(theta2 + theta3 + theta4) + L5*np.cos(theta2 + theta3)*s5 - L6*np.sin(theta2 + theta3)*c6 - L7*np.sin(theta2 + theta3)*s5*s7 + L7*np.cos(theta2 + theta3)*c6*c7

d = L4*np.sin(theta2 + theta3 + theta4) + L5*np.sin(theta2 + theta3)*s5 + L6*np.cos(theta2 + theta3)*c6 + L7*np.cos(theta2 + theta3)*s5*s7 + L7*np.sin(theta2 + theta3)*c6*c7

e = np.sqrt(a**2 + b**2)

theta4 = np.arctan2(b, a) - np.arctan2(e, L3)

 

# 计算第五段关节角度

s6 = np.sin(theta6)

c6 = np.cos(theta6)

s7 = np.sin(theta7)

c7 = np.cos(theta7)

a = L7*(s5*s7 + c5*c6*c7) - L6*s6*c5 - L5*s5

b = L7*c5*s7 - L6*s5*s6

c = L4*np.cos(theta2 + theta3 + theta4) + L5*np.cos(theta2 + theta3)*s5 - L6*np.sin(theta2 + theta3)*c6 - L7*np.sin(theta2 + theta3)*s5*s7 + L7*np.cos(theta2 + theta3)*c6*c7

d = L4*np.sin(theta2 + theta3 + theta4) + L5*np.sin(theta2 + theta3)*s5 + L6*np.cos(theta2 + theta3)*c6 + L7*np.cos(theta2 + theta3)*s5*s7 + L7*np.sin(theta2 + theta3)*c6*c7

e = np.sqrt(a**2 + b**2)

theta5 = np.arctan2(b, a) - np.arctan2(e, np.sqrt(c**2 + d**2 - L1**2))

 

# 计算第六段关节角度

s7 = np.sin(theta7)

c7 = np.cos(theta7)

a = L7*(s5*c7 - c5*c6*s7)

b = -L7*(c5*s7 + s5*c6*c7)

c = L4*np.cos(theta2 + theta3 + theta4) + L5*np.cos(theta2 + theta3)*s5 - L6*np.sin(theta2 + theta3)*c6 - L7*np.sin(theta2 + theta3)*s5*s7 + L7*np.cos(theta2 + theta3)*c6*c7

d = L4*np.sin(theta2 + theta3 + theta4) + L5*np.sin(theta2 + theta3)*s5 + L6*np.cos(theta2 + theta3)*c6 + L7*np.cos(theta2 + theta3)*s5*s7 + L7*np.sin(theta2 + theta3)*c6*c7

e = np.sqrt(a**2 + b**2)

theta6 = np.arctan2(b, a) - np.arctan2(e, np.sqrt(c**2 + d**2 - L1**2))

 

# 计算第七段关节角度

a = L7*(c6*s5*s7 + c5*c7)

b = L7*(c5*s6)

c = L4*np.cos(theta2 + theta3 + theta4) + L5*np.cos(theta2 + theta3)*s5 - L6*np.sin(theta2 + theta3)*c6 - L7*np.sin(theta2 + theta3)*s5*s7 + L7*np.cos(theta2 + theta3)*c6*c7

d = L4*np.sin(theta2 + theta3 + theta4) + L5*np.sin(theta2 + theta3)*s5 + L6*np.cos(theta2 + theta3)*c6 + L7*np.cos(theta2 + theta3)*s5*s7 + L7*np.sin(theta2 + theta3)*c6*c7

e = np.sqrt(a**2 + b**2)

theta7 = np.arctan2(b, a) - np.arctan2(e, np.sqrt(c**2 + d**2 - L1**2))

 

return theta1, theta2, theta3, theta4, theta5, theta6, theta7

# 示例：将臂型角(0.5, 0.4, 0.3, 0.2, 0.1, 0.0, 0.0)转换为关节角度

theta1, theta2, theta3, theta4, theta5, theta6, theta7 = inverse_kinematics(0.5, 0.4, 0.3, 0.2, 0.1, 0.0, 0.0)

print("关节角度：", theta1, theta2, theta3, theta4, theta5, theta6, theta7)

```

注：以上代码仅为示例，实际应用中需要根据具体情况进行修改。