臂型角参数化求逆解代码2

以下是完整的MATLAB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：

```matlab

% 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

function [theta1, theta2, theta3, theta4, theta5, theta6, theta7] = inverse_kinematics(theta_arm)

theta1 = 0;

theta2 = 0;

theta3 = 0;

theta4 = 0;

theta5 = 0;

theta6 = 0;

theta7 = 0;

 

% 计算第一段关节角度

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

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

theta1 = atan2(b, a) - atan2(L1, sqrt(a^2 + b^2 - L1^2));

 

% 计算第二段关节角度

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

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

c = sqrt(a^2 + b^2 - L1^2);

theta2 = atan2(b - c*sin(theta1), a - c*cos(theta1)) - atan2(L1*sin(theta1), L1*cos(theta1) - c);

 

% 计算第三段关节角度

s5 = sin(theta_arm(5));

c5 = cos(theta_arm(5));

s6 = sin(theta_arm(6));

c6 = cos(theta_arm(6));

s7 = sin(theta_arm(7));

c7 = cos(theta_arm(7));

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

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

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

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

e = sqrt(a^2 + b^2);

theta3 = atan2(d, c) - atan2(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*cos(theta2 + theta3 + theta4) + L5*cos(theta2 + theta3)*s5 - L6*sin(theta2 + theta3)*c6 - L7*sin(theta2 + theta3)*s5*s7 + L7*cos(theta2 + theta3)*c6*c7;

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

e = sqrt(a^2 + b^2);

theta4 = atan2(-b, -a) - atan2(e, L2);

 

% 计算第五段关节角度

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

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

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

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

e = sqrt(a^2 + b^2);

theta5 = atan2(e, c5*d - s5*e) - atan2(L2*cos(theta1) + L3*cos(theta1 + theta2) + L4*cos(theta1 + theta2 + theta3 + theta4), L1 + L2*sin(theta1) + L3*sin(theta1 + theta2) + L4*sin(theta1 + theta2 + theta3 + theta4));

 

% 计算第六段关节角度

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

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

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

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

e = sqrt(a^2 + b^2);

theta6 = atan2(c5*d - s5*e, b) - atan2(e, a);

 

% 计算第七段关节角度

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

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

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

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

e = sqrt(a^2 + b^2);

theta7 = atan2(s5*c6*c7 + c5*s7, c6*c7) - atan2(sqrt(1 - (s5*c6*c7 + c5*s7)^2), s5*s6);

end

```

这个函数需要一个7维向量作为输入，其中每个元素都是一个臂型角。函数的输出是一个包含七个关节角度的向量。