当然可以,以下是一个用臂型角参数化法求解SRS型七自由度机械臂逆运动学的Python代码示例:
```python
import numpy as np
# 机械臂参数
L1 = 1.0
L2 = 1.0
L3 = 1.0
L4 = 1.0
L5 = 1.0
L6 = 1.0
L7 = 1.0
# 机械臂关节角度范围(单位:弧度)
q1_min, q1_max = -np.pi/2, np.pi/2
q2_min, q2_max = -np.pi/2, np.pi/2
q3_min, q3_max = -np.pi/2, np.pi/2
q4_min, q4_max = -np.pi/2, np.pi/2
q5_min, q5_max = -np.pi/2, np.pi/2
q6_min, q6_max = -np.pi/2, np.pi/2
q7_min, q7_max = -np.pi/2, np.pi/2
# 给定末端位姿矩阵
T = np.array([[0.0, 0.0, 1.0, 1.0],
[0.0, 1.0, 0.0, 2.0],
[-1.0, 0.0, 0.0, 3.0],
[0.0, 0.0, 0.0, 1.0]])
# 给定臂型角
alpha = np.pi/4
# 计算逆向臂型角解析式中的常数项
A = np.array([[-np.sin(alpha), 0, np.cos(alpha)],
[0, 1, 0],
[np.cos(alpha), 0, np.sin(alpha)]])
B = np.array([[-L4-L7],
[-L5],
[L1+L2+L3+L6]])
# 求解关节角度
def inverse_kinematics(T, alpha):
R = T[:3, :3]
p = T[:3, 3].reshape(3,1)
# 计算逆向臂型角解析式中的变量
R_ = R.dot(A)
p_ = p - R_.dot(B)
# 计算关节角度
q1 = np.arctan2(p_[1], p_[0])
q3 = np.arccos((p_[0]**2 + p_[1]**2 + p_[2]**2 - L1**2 - L2**2 - L3**2) / (2*L2*L3))
q2 = np.arctan2(p_[2]*(L2+L3*np.cos(q3))-L3*np.sin(q3)*(p_[0]*np.cos(q1)+p_[1]*np.sin(q1)), p_[0]*np.sin(q1)-p_[1]*np.cos(q1))
R30 = R_[2, 0]
R31 = R_[2, 1]
R32 = R_[2, 2]
q4 = np.arctan2(R31/np.sin(q3), R32/np.sin(q3))
q5 = np.arctan2(R30/np.sin(q3), -np.sqrt(1-R30**2-R31**2-R32**2)/np.sin(q3))
q6 = np.arctan2((-R11*np.sin(q1)+R21*np.cos(q1))/np.sin(q4), (R10*np.sin(q1)-R20*np.cos(q1))/np.sin(q4))
q7 = np.arctan2((-R13*np.sin(q1)+R23*np.cos(q1))/np.sin(q4), (R12*np.sin(q1)-R22*np.cos(q1))/np.sin(q4))
# 筛选符合要求的关节角度
solutions = []
for q1_ in [q1, q1+np.pi, q1-np.pi]:
for q2_ in [q2, q2+np.pi, q2-np.pi]:
for q3_ in [q3, -q3]:
for q4_ in [q4, q4+np.pi, q4-np.pi]:
for q5_ in [q5, -q5]:
for q6_ in [q6, q6+np.pi, q6-np.pi]:
for q7_ in [q7, q7+np.pi, q7-np.pi]:
if q1_min <= q1_ <= q1_max and q2_min <= q2_ <= q2_max and q3_min <= q3_ <= q3_max and q4_min <= q4_ <= q4_max and q5_min <= q5_ <= q5_max and q6_min <= q6_ <= q6_max and q7_min <= q7_ <= q7_max:
solutions.append([q1_, q2_, q3_, q4_, q5_, q6_, q7_])
# 计算误差并选择最优解
errors = []
for joint_angles in solutions:
T_ = forward_kinematics(joint_angles, alpha)
error = np.linalg.norm(T[:3, :3] - T_[:3, :3]) + np.linalg.norm(T[:3, 3] - T_[:3, 3])
errors.append(error)
best_solution = solutions[np.argmin(errors)]
min_error = errors[np.argmin(errors)]
return best_solution, min_error
# 正向运动学
def forward_kinematics(joint_angles, alpha):
q1, q2, q3, q4, q5, q6, q7 = joint_angles
R01 = np.array([[np.cos(q1), -np.sin(q1), 0],
[np.sin(q1), np.cos(q1), 0],
[0, 0, 1]])
R12 = np.array([[np.cos(q2), 0, np.sin(q2)],
[0, 1, 0],
[-np.sin(q2), 0, np.cos(q2)]])
R23 = np.array([[np.cos(q3), -np.sin(q3), 0],
[np.sin(q3), np.cos(q3), 0],
[0, 0, 1]])
R34 = np.array([[np.cos(q4), -np.sin(q4), 0],
[0, 0, 1],
[-np.sin(q4), -np.cos(q4), 0]])
R45 = np.array([[np.cos(q5), 0, np.sin(q5)],
[0, 1, 0],
[-np.sin(q5), 0, np.cos(q5)]])
R56 = np.array([[np.cos(q6), -np.sin(q6), 0],
[0, 0, -1],
[np.sin(q6), np.cos(q6), 0]])
R67 = np.array([[np.cos(q7), -np.sin(q7), 0],
[0, 0, -1],
[np.sin(q7), np.cos(q7), 0]])
R7E = np.array([[-np.sin(alpha), 0, np.cos(alpha)],
[0, 1, 0],
[np.cos(alpha), 0, np.sin(alpha)]])
R0E = R01.dot(R12).dot(R23).dot(R34).dot(R45).dot(R56).dot(R67).dot(R7E)
p0E = np.array([[L4+L7],
[0],
[L1+L2+L3+L6]])
p0E_ = np.array([[np.cos(q1)*(L4+L7)],
[np.sin(q1)*(L4+L7)],
[L1+L2+L3+L6]])
p7E_ = np.array([[-np.sin(alpha)*(L5+L6)],
[0],
[np.cos(alpha)*(L5+L6)]])
p0E__ = p0E_ - R0E.dot(p7E_)
p0E___ = p0E__ - p0E
TE = np.eye(4)
TE[:3, :3] = R0E
TE[:3, 3] = p0E___.flatten()
return TE
# 测试代码
best_solution, min_error = inverse_kinematics(T, alpha)
print("最优解:", best_solution)
print("最小误差:", min_error)
代码里的连杆长度L1等等和DH参数表有什么关系
连杆长度就是a