第九个的9

最新推荐文章于 2024-09-29 14:13:49 发布

m0_56224541

最新推荐文章于 2024-09-29 14:13:49 发布

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本文链接：https://blog.csdn.net/m0_56224541/article/details/130117849

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很抱歉，我并不能够直接查询特定机构的代码示例。不过，臂型角参数化法求解SRS型七自由度机械臂逆解的思路和方法是比较通用的，你可以参考其他机构的代码实现或者自己编写代码实现。以下是一个通用的示例代码，供参考：

```

import numpy as np

from scipy.spatial.transform import Rotation as R

from scipy.optimize import minimize

def inverse_kinematics(q_init, T, eps=1e-6):

# 机械臂的DH参数

a1 = 0.0

a2 = 0.4318

a3 = 0.0203

a4 = 0.0

a5 = 0.0

a6 = 0.0

a7 = 0.1509

d1 = 0.1528

d2 = 0.0

d3 = 0.0

d4 = 0.4318

d5 = 0.0

d6 = 0.0

d7 = 0.0

# 计算末端执行器的旋转矩阵和位置向量

R = T[:3, :3]

p = T[:3, 3]

# 计算臂型角

r = R.from_matrix(R)

alpha, beta, gamma = r.as_euler('xyz', degrees=True)

alpha_arm = np.arctan2(R[1, 0], R[0, 0])

# 计算关节角度

theta1 = np.arctan2(p[1], p[0])

theta3 = np.arccos((p[0] ** 2 + p[1] ** 2 + p[2] ** 2 - a2 ** 2 - a3 ** 2) / (2 * a2 * a3))

k1 = a2 + a3 * np.cos(theta3)

k2 = a3 * np.sin(theta3)

theta2 = np.arctan2(p[2], np.sqrt(p[0] ** 2 + p[1] ** 2)) - np.arctan2(k2, k1)

theta4 = np.arctan2(R[1, 2], R[0, 2])

theta5 = np.arctan2(np.sqrt(1 - R[2, 2] ** 2), R[2, 2])

theta6 = np.arctan2(-R[2, 1], R[2, 0])

theta7 = alpha_arm - theta4 - theta6

# 处理奇异情况

if np.abs(theta3) < eps:

theta1 = np.arctan2(-p[1], -p[0])

theta2 = -theta2

theta3 = 0.0

theta4 = np.arctan2(-R[1, 2], -R[0, 2])

theta5 = np.arctan2(np.sqrt(1 - R[2, 2] ** 2), R[2, 2])

theta6 = np.arctan2(R[2, 1], -R[2, 0])

theta7 = alpha_arm - theta4 - theta6

# 计算雅可比矩阵

J = np.zeros((6, 7))

J[0, 0] = -d1*np.sin(theta1)

J[1, 0] = d1*np.cos(theta1)

J[2, 1] = -a2*np.sin(theta2)*np.cos(theta1)

J[2, 0] = -a2*np.cos(theta2)*np.sin(theta1)

J[2, 2] = -a3*np.sin(theta2 + theta3)*np.cos(theta1)

J[2, 1] = -a3*np.cos(theta2 + theta3)*np.sin(theta1)

J[2, 3] = a3*np.sin(theta2 + theta3)*np.cos(theta1)

J[2, 4] = a3*np.sin(theta2 + theta3)*np.cos(theta1)*np.sin(theta5)

J[2, 5] = a3*np.sin(theta2 + theta3)*np.cos(theta1)*np.sin(theta5)*np.cos(theta6)

J[2, 6] = a3*np.sin(theta2 + theta3)*np.cos(theta1)*np.sin(theta5)*np.sin(theta6)

J[3, 1] = a2*np.sin(theta1)*np.sin(theta2)

J[3, 0] = -a2*np.cos(theta1)*np.cos(theta2)

J[3, 2] = a3*np.sin(theta1)*np.sin(theta2 + theta3)

J[3, 1] = -a3*np.cos(theta1)*np.cos(theta2 + theta3)

J[3, 3] = -a3*np.sin(theta1)*np.sin(theta2 + theta3)

J[3, 4] = -a3*np.sin(theta1)*np.sin(theta2 + theta3)*np.sin(theta5)

J[3, 5] = -a3*np.sin(theta1)*np.sin(theta2 + theta3)*np.sin(theta5)*np.cos(theta6)

J[3, 6] = -a3*np.sin(theta1)*np.sin(theta2 + theta3)*np.sin(theta5)*np.sin(theta6)

J[4, 1] = -a2*np.cos(theta2)

J[4, 2] = -a3*np.cos(theta2 + theta3)

J[4, 3] = -a3*np.cos(theta2 + theta3)*np.cos(theta5)

J[4, 4] = a3*np.sin(theta2 + theta3)*np.cos(theta5)

J[4, 5] = a3*np.sin(theta2 + theta3)*np.sin(theta5)*np.sin(theta6)

J[4, 6] = -a3*np.sin(theta2 + theta3)*np.sin(theta5)*np.cos(theta6)

J[5, 2] = a3*np.sin(theta2 + theta3)*np.sin(theta5)*np.cos(theta1)

J[5, 3] = a3*np.cos(theta2 + theta3)*np.sin(theta1)*np.sin(theta5)

J[5, 4] = a3*np.cos(theta2 + theta3)*np.cos(theta1)*np.cos(theta5)

J[5, 5] = -a3*np.sin(theta2 + theta3)*np.cos(theta5)*np.cos(theta6)

J[5, 6] = a3*np.sin(theta2 + theta3)*np.cos(theta5)*np.sin(theta6)

# 使用数值优化方法求解逆解

def objective(q):

return np.sum((forward_kinematics(q) - T) ** 2)

def constraint(q):

return np.sum(np.abs(np.diff(q))) - np.pi / 2

bounds = [(0, np.pi)] * 7

constraints = [{'type': 'ineq', 'fun': constraint}]

result = minimize(objective, q_init, method='SLSQP', bounds=bounds, constraints=constraints)

q = result.x

return q

def forward_kinematics(q):