clear,clc,close all;
%% 建立机器人DH参数,初始状态为竖直状态
L1=Link('d',89.2,'a',0, 'alpha',pi/2, 'standard');
L2=Link('d',0, 'a',425,'alpha',0, 'offset',pi/2,'standard');
L3=Link('d',0, 'a',392,'alpha',0, 'standard');
L4=Link('d',109.3,'a',0, 'alpha',-pi/2,'offset',-pi/2,'standard');
L5=Link('d',94.75,'a',0, 'alpha',pi/2, 'standard');
L6=Link('d',82.5, 'a',0, 'alpha',0, 'standard');
robot=SerialLink([L1 L2 L3 L4 L5 L6],'name','Arm6')
Theta=[0 0 0 0 0 0];
Theta=Theta/180*pi; %换算成弧度
forwarda=robot.fkine(Theta) %求正解的齐次变换矩阵
W=[-1000,+1000,-1000,+1000,0,+1000];
robot.plot(Theta,'tilesize',150,'workspace',W); %显示三维动画
robot.teach(forwarda,'rpy' ) %显示roll/pitch/yaw angles,GUI可调界面
UR5机械臂运动学建模MATLAB
于 2023-06-02 15:27:47 首次发布