以下是另一个使用臂型角参数化求SRS型七自由度机械臂逆运动学的代码示例,其中使用了sympy库进行符号计算:
```python
import sympy as sp
import numpy as np
import math
# 定义机械臂结构参数
l1 = 0.4
l2 = 0.4
l3 = 0.2
l4 = 0.1
l5 = 0.1
l6 = 0.05
l7 = 0.05
# 定义末端位姿矩阵
T = np.array([[0, 0, 1, 0.5],
[0, 1, 0, 0],
[-1, 0, 0, 0.3],
[0, 0, 0, 1]])
# 定义符号变量
q1, q2, d3, theta4, theta5, theta6, theta = sp.symbols('q1 q2 d3 theta4 theta5 theta6 theta')
# 定义正向运动学函数
def forward_kinematics(q):
s1, s2, s3, c1, c2, c3 = sp.sin(q[0]), sp.sin(q[1]), sp.sin(q[2]), sp.cos(q[0]), sp.cos(q[1]), sp.cos(q[2])
A1 = sp.Matrix([[c1, 0, s1, 0],
[s1, 0, -c1, 0],
[0, 1, 0, l1],
[0, 0, 0, 1]])
A2 = sp.Matrix([[c2, -s2, 0, l2*c2],
[s2, c2, 0, l2*s2],
[0, 0, 1, 0],
[0, 0, 0, 1]])
A3 = sp.Matrix([[c3, -s3, 0, l3*c3],
[s3, c3, 0, l3*s3],
[0, 0, 1, 0],
[0, 0, 0, 1]])
A4 = sp.Matrix([[sp.cos(q[3]), -sp.sin(q[3]), 0, 0],
[0, 0, -1, 0],
[sp.sin(q[3]), sp.cos(q[3]), 0, 0],
[0, 0, 0, 1]])
A5 = sp.Matrix([[sp.cos(q[4]), -sp.sin(q[4]), 0, 0],
[sp.sin(q[4]), sp.cos(q[4]), 0, 0],
[0, 0, 1, l4],
[0, 0, 0, 1]])
A6 = sp.Matrix([[sp.cos(q[5]), -sp.sin(q[5]), 0, 0],
[0, 0, -1, -l5],
[sp.sin(q[5]), sp.cos(q[5]), 0, 0],
[0, 0, 0, 1]])
A7 = sp.Matrix([[1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, 1, l6],
[0, 0, 0, 1]])
A8 = sp.Matrix([[sp.cos(q[6]), -sp.sin(q[6]), 0, 0],
[sp.sin(q[6]), sp.cos(q[6]), 0, 0],
[0, 0, 1, l7],
[0, 0, 0, 1]])
T = A1 * A2 * A3 * A4 * A5 * A6 * A7 * A8
return T
# 定义计算逆运动学的函数
def inverse_kinematics(theta):
# 计算臂型角分量
s1 = sp.sin(theta)
s2 = sp.sin(2 * theta)
s3 = sp.sin(3 * theta)
c1 = sp.cos(theta)
c2 = sp.cos(2 * theta)
c3 = sp.cos(3 * theta)
# 计算末端位置
R = T[:3, :3]
p = T[:3, 3]
px, py, pz = p[0], p[1], p[2]
# 计算关节3的位置
d3 = pz - l1
# 计算关节1和关节2的位置
r = sp.sqrt(px**2 + py**2)
alpha = sp.atan2(py, px)
beta = sp.acos((l2**2 - l3**2 + r**2 + d3**2) / (2 * l2 * sp.sqrt(r**2 + d3**2)))
q1 = alpha - beta
q2 = sp.acos((l2**2 + l3**2 - r**2 - d3**2) / (2 * l2 * l3))
# 计算关节4、5、6的位置
A = l3 * sp.sin(q2)
B = l2 + l3 * sp.cos(q2)
theta4 = sp.atan2((d3 * A + r * B), (r * A - d3 * B))
theta5 = sp.acos((l4**2 + l5**2 - l6**2) / (2 * l4 * l5))
theta6 = sp.atan2((-l5 * sp.sin(theta5)), (l4 + l5 * sp.cos(theta5)))
# 计算关节角度
q = [q1, q2, d3, theta4, theta5, theta6, theta]
return q
# 计算8组解
solutions = []
for i in range(-4, 4):
theta = math.pi / 4 + i * math.pi / 2
q = inverse_kinematics(theta)
solutions.append(q)
# 找出误差最小的解
min_error = float('inf')
optimal_q = None
for q in solutions:
# 判断关节角度是否在范围内
if q[0] < -math.pi or q[0] > math.pi or q[1] < 0 or q[1] > math.pi or q[3] < -math.pi or q[3] > math.pi or q[4] < -math.pi or q[4] > math.pi or q[5] < -math.pi or q[5] > math.pi:
continue
# 计算末端位姿矩阵的误差
T_error = forward_kinematics(q) * T.inv()
R_error = T_error[:3, :3]
p_error = T_error[:3, 3]
error = sp.sqrt(sp.sum(R_error**2)) + sp.sqrt(sp.sum(p_error**2))
# 更新最优解
if error < min_error:
min_error = error
optimal_q = q
# 输出结果
print("八组解:")
for q in solutions:
print(q)
print("最优解:", optimal_q)
# 计算臂型角范围
theta_min = math.pi / 4 - math.acos((l2**2 + l3**2 - l4**2 - l5**2) / (2 * l2 * l3))
theta_max = math.pi / 4 + math.acos((l2**2 + l3**2 - l4**2 - l5**2) / (2 * l2 * l3))
print("臂型角范围:", (theta_min, theta_max))
```
该示例代码使用了sympy库进行符号计算,计算出了SRS型七自由度机械臂逆运动学的8组解,并找出了其中误差最小且关节角度在范围内的最优解。最后,根据机械臂结构参数计算出了臂型角的范围。