参考：
六轴机器人matlab写运动学逆解函数（改进DH模型）_JojenZz的博客-CSDN博客_matlab运动学逆解
六轴机器人轨迹规划之五段位置s曲线插补_JojenZz的博客-CSDN博客_六轴机器人路径规划
dh参数
1. 标准的STD_DH dh建模
Trans zi-1（di）:沿着zi-1轴平移di； Rot zi-1（
）:沿着zi-1轴旋转 ；Trans xi（ai）:沿着xi轴配平移 ai ；Rot xi-1（
）沿着xi-1轴旋转
2.改进型MOD_DH dh建模
3. 标准的STD_DH dh建模与改进型MOD_DH dh建模 区别比较：
标准DH参数和改进DH参数之间的差异是连接到连杆的坐标系的位置和齐次变换的顺序。
3.1标准的DH参数原点 Oi 坐标建立在末端，改进的DH参数的原点 Oi 坐标建立在首端
变换矩阵：
4.dh建模 参考ur改进的DH建模
把初始位置竖起来：
5.验证dh参数是否准确
5.1.验证dh参数是否准确
d：连杆偏距 ； a：杆长 ；alpha：连杆转角 ； offset初始关节角度；
clear,clc,close all;
%建立机器人DH参数，初始状态为竖直状态
% d：连杆偏距 ； a：杆长 ；alpha：连杆转角 ； offset初始关节角度；
L1=Link('d',144,'a',0,'alpha',0,'modified');
L2=Link('d',0,'a',0,'alpha',pi/2,'offset',-pi/2,'modified');
L3=Link('d',0,'a',-264,'alpha',0,'modified');
L4=Link('d',106,'a',-236,'alpha',0,'offset',-pi/2,'modified');
L5=Link('d',114,'a',0,'alpha',pi/2,'modified');
L6=Link('d',67,'a',0,'alpha',-pi/2,'modified');
%建立机器人
robot=SerialLink([L1 L2 L3 L4 L5 L6],'name','Arm6') ;
% 初始角度 都为0
Theta=[0 0 0 0 0 0];
%初始角度换算成弧度
Theta=Theta/180*pi;
%求正解的齐次变换矩阵
forwarda=robot.fkine(Theta)
W=[-1000,+1000,-1000,+1000,-1000,+1000];
%显示三维动画
robot.plot(Theta,'tilesize',150,'workspace',W);
%显示roll/pitch/yaw angles，GUI可调界面
robot.teach(forwarda,'rpy' ) 
转换成rpy姿态
rpy2r：rpy转换成旋转矩阵
r2rpy：旋转矩阵转换成rpy
R=rpy2r(0.1,0.2,0.3,'xyz')
R=r2rpy(R,'xyz')
6.正解：
ForwardSolver_MDH.m
function [T06,Pos]=ForwardSolver_MDH(theta)
%% 建立机器人DH参数，初始状态为竖直状态
%% d：连杆偏距 ； a：杆长 ；alpha：连杆转角 ； offset初始关节角度；
%% L1=Link('d',144,'a',0,'alpha',0,'modified');
%% L2=Link('d',0,'a',0,'alpha',pi/2,'offset',-pi/2,'modified');
%% L3=Link('d',0,'a',-264,'alpha',0,'modified');
%% L4=Link('d',106,'a',-236,'alpha',0,'offset',-pi/2,'modified');
%% L5=Link('d',114,'a',0,'alpha',pi/2,'modified');
%% L6=Link('d',67,'a',0,'alpha',-pi/2,'modified');
%% [alpha,a, d,offset] ******DH参数*****
%% 参数 1：连杆转角alpha ； 参数2：杆长a ； 参数3：连杆偏距d ； 参数4：初始关节角度offset；
DH_JXB =[ 0 0 144 0;
90 0 0 -90;
0 -264 0 0;
0 -236 106 -90;
90 0 114 0;
-90 0 67 0
];
d=DH_JXB(1:6,3);
a0=DH_JXB(1,2); a1=DH_JXB(2,2);a2=DH_JXB(3,2);a3=DH_JXB(4,2);a4=DH_JXB(5,2); a5=DH_JXB(6,2);
DH_JXB(1:6,1)=DH_JXB(1:6,1)/180*pi;
alp0=DH_JXB(1,1); alp1=DH_JXB(2,1);alp2=DH_JXB(3,1);alp3=DH_JXB(4,1);alp4=DH_JXB(5,1); alp5=DH_JXB(6,1);
offset=[0 -90 0 -90 0 0];
theta=(theta+offset)*pi/180;
theta1=theta(1);theta2=theta(2);theta3=theta(3);theta4=theta(4);theta5=theta(5);theta6=theta(6);
T01=[ cos(theta1), -sin(theta1), 0, a0;
sin(theta1)*cos(alp0), cos(theta1)*cos(alp0),-sin(alp0),-d(1)*sin(alp0);
sin(theta1)*sin(alp0), cos(theta1)*sin(alp0), cos(alp0), d(1)*cos(alp0);
0, 0, 0, 1
];
T12=[ cos(theta2), -sin(theta2), 0, a1;
sin(theta2)*cos(alp1), cos(theta2)*cos(alp1),-sin(alp1),-d(2)*sin(alp1);
sin(theta2)*sin(alp1), cos(theta2)*sin(alp1), cos(alp1), d(2)*cos(alp1);
0, 0, 0, 1
];
T23=[ cos(theta3), -sin(theta3), 0, a2;
sin(theta3)*cos(alp2), cos(theta3)*cos(alp2),-sin(alp2),-d(3)*sin(alp2);
sin(theta3)*sin(alp2), cos(theta3)*sin(alp2), cos(alp2), d(3)*cos(alp2);
0, 0, 0, 1
];
T34=[ cos(theta4), -sin(theta4), 0, a3;
sin(theta4)*cos(alp3), cos(theta4)*cos(alp3),-sin(alp3),-d(4)*sin(alp3);
sin(theta4)*sin(alp3), cos(theta4)*sin(alp3), cos(alp3), d(4)*cos(alp3);
0, 0, 0, 1
];
T45=[ cos(theta5), -sin(theta5), 0, a4;
sin(theta5)*cos(alp4), cos(theta5)*cos(alp4),-sin(alp4),-d(5)*sin(alp4);
sin(theta5)*sin(alp4), cos(theta5)*sin(alp4), cos(alp4), d(5)*cos(alp4);
0, 0, 0, 1
];
T56=[ cos(theta6), -sin(theta6), 0, a5;
sin(theta6)*cos(alp5), cos(theta6)*cos(alp5),-sin(alp5),-d(6)*sin(alp5);
sin(theta6)*sin(alp5), cos(theta6)*sin(alp5), cos(alp5), d(6)*cos(alp5);
0, 0, 0, 1
];
disp('Homogeneous transformation matrix T06:')
T06=T01*T12*T23*T34*T45*T56;
%% 求末端位置
X=T06(1,4);Y=T06(2,4);Z=T06(3,4);
%% 求末端姿态Rotations about X, Y, Z axes (for a robot gripper)
R=T06;
if abs(abs(R(1,3)) - 1) < eps % when |R13| == 1
% singularity
rpy(1) = 0; % roll is zero
if R(1,3) > 0
rpy(3) = atan2( R(3,2), R(2,2)); % R+Y
else
rpy(3) = -atan2( R(2,1), R(3,1)); % R-Y
end
rpy(2) = asin(R(1,3));
else
rpy(1) = -atan2(R(1,2), R(1,1));
rpy(3) = -atan2(R(2,3), R(3,3));
rpy(2) = atan(R(1,3)*cos(rpy(1))/R(1,1));
end
RPY=rpy*180/pi;
Rall=RPY(1);Pitch=RPY(2);Yaw=RPY(3);
Pos=[X,Y,Z,Rall,Pitch,Yaw];
end7. 6关节逆解
InverseSolver_MDH.m
function AllSloverTheta =InverseSolver_MDH(Pos)
%#codegen
%% coder.extrinsic 声明外部函数。
%% 在仿真期间，代码生成器会为外部函数的调用生成代码，但不会生成函数的内部代码。
coder.extrinsic('disp');
%% 建立机器人DH参数，初始状态为竖直状态
%% L1=Link('d',144,'a',0,'alpha',0,'modified');
%% L2=Link('d',0,'a',0,'alpha',pi/2,'offset',-pi/2,'modified');
%% L3=Link('d',0,'a',-264,'alpha',0,'modified');
%% L4=Link('d',106,'a',-236,'alpha',0,'offset',-pi/2,'modified');
%% L5=Link('d',114,'a',0,'alpha',pi/2,'modified');
%% L6=Link('d',67,'a',0,'alpha',-pi/2,'modified');
AllSloverTheta = zeros(8,6);A=zeros(1,4);
%% [alpha,a, d,offset]
DH_JXB =[0 0 144 0;
90 0 0 -90;
0 -264 0 0;
0 -236 106 -90;
90 0 114 0;
-90 0 67 0];
p2=DH_JXB(2,4);p4=DH_JXB(4,4);
a2=DH_JXB(3,2);a3=DH_JXB(4,2);d1=DH_JXB(1,3);d4=DH_JXB(4,3);d5=DH_JXB(5,3);
X=Pos(1);Y=Pos(2);Z=Pos(3);
gama=Pos(4)*pi/180;beta=Pos(5)*pi/180;alpha=Pos(6)*pi/180;
theta7=0;a6=0;afa6=0;d7=DH_JXB(6,3);
T67=[ cos(theta7),-sin(theta7),0,a6;
sin(theta7)*cos(afa6),cos(theta7)*cos(afa6),-sin(afa6),-sin(afa6)*d7;
sin(theta7)*sin(afa6),cos(theta7)*sin(afa6),cos(afa6),cos(afa6)*d7;
0,0,0,1
];
T_goat=[ cos(beta)*cos(gama),-cos(beta)*sin(gama),sin(beta),X;
sin(alpha)*sin(beta)*cos(gama)+cos(alpha)*sin(gama), ...
-sin(alpha)*sin(beta)*sin(gama)+cos(alpha)*cos(gama), -sin(alpha)*cos(beta),Y;
-cos(alpha)*sin(beta)*cos(gama)+sin(alpha)*sin(gama),...
cos(alpha)*sin(beta)*sin(gama)+sin(alpha)*cos(gama), cos(alpha)*cos(beta),Z;
0,0,0,1
];
T06=T_goat/T67;
nx=T06(1,1);ny=T06(2,1);
ox=T06(1,2);oy=T06(2,2);
ax=T06(1,3);ay=T06(2,3);az=T06(3,3);
px=T06(1,4);py=T06(2,4);pz=T06(3,4);
k=0;
ForJudgment=px^2+py^2-d4^2;
if ForJudgment<-1e-6
disp('Out of workspace Unable to solve');
else
if ForJudgment>=-1e-6&&ForJudgment<0
ForJudgment=0;
end
theta1_1=atan2(py,px)-atan2(-d4,sqrt(ForJudgment));
theta1_2=atan2(py,px)-atan2(-d4,-sqrt(ForJudgment));
S5_1=sqrt((-sin(theta1_1)*nx+cos(theta1_1)*ny)^2+(-sin(theta1_1)*ox+cos(theta1_1)*oy)^2);
theta5_1=atan2(S5_1,sin(theta1_1)*ax-cos(theta1_1)*ay);
S5_2=-sqrt((-sin(theta1_1)*nx+cos(theta1_1)*ny)^2+(-sin(theta1_1)*ox+cos(theta1_1)*oy)^2);
theta5_2=atan2(S5_2,sin(theta1_1)*ax-cos(theta1_1)*ay);
S5_3=sqrt((-sin(theta1_2)*nx+cos(theta1_2)*ny)^2+(-sin(theta1_2)*ox+cos(theta1_2)*oy)^2);
theta5_3=atan2(S5_3,sin(theta1_2)*ax-cos(theta1_2)*ay);
S5_4=-sqrt((-sin(theta1_2)*nx+cos(theta1_2)*ny)^2+(-sin(theta1_2)*ox+cos(theta1_2)*oy)^2);
theta5_4=atan2(S5_4,sin(theta1_2)*ax-cos(theta1_2)*ay);
S234 = [0; 0; 0; 0];C234 = [0; 0; 0; 0];
B = [0; 0; 0; 0];B1 = [0; 0; 0; 0];B2 = [0; 0; 0; 0];
C = [0; 0; 0; 0];
theta2 = [0; 0; 0; 0; 0; 0; 0; 0];
theta23 = [0; 0; 0; 0; 0; 0; 0; 0];
theta234 = [0; 0; 0; 0; 0; 0; 0; 0];
theta3 = [0; 0; 0; 0; 0; 0; 0; 0];
theta4 = [0; 0; 0; 0; 0; 0; 0; 0];
if abs(S5_1)>1e-6
theta6_1=atan2((-sin(theta1_1)*ox+cos(theta1_1)*oy)/S5_1,(sin(theta1_1)*nx-cos(theta1_1)*ny)/S5_1);
S234(1)=-az/S5_1;C234(1)=-(cos(theta1_1)*ax+sin(theta1_1)*ay)/S5_1;theta234(1)=atan2(S234(1),C234(1));
B1(1)=cos(theta1_1)*px+sin(theta1_1)*py-d5*S234(1);B2(1)=pz-d1+d5*C234(1);
A(1)=-2*B2(1)*a2;B(1)=2*B1(1)*a2;C(1)=B1(1)^2+B2(1)^2+a2^2-a3^2;
if A(1)^2+B(1)^2-C(1)^2>=0
theta2(1)=atan2(B(1),A(1))-atan2(C(1),sqrt(A(1)^2+B(1)^2-C(1)^2));
theta2(2)=atan2(B(1),A(1))-atan2(C(1),-sqrt(A(1)^2+B(1)^2-C(1)^2));
theta23(1)=atan2((B2(1)-a2*sin(theta2(1)))/a3,(B1(1)-a2*cos(theta2(1)))/a3);
theta23(2)=atan2((B2(1)-a2*sin(theta2(2)))/a3,(B1(1)-a2*cos(theta2(2)))/a3);
theta4(1)=theta234(1)-theta23(1);
theta4(2)=theta234(1)-theta23(2);
theta3(1)=theta23(1)-theta2(1);
theta3(2)=theta23(2)-theta2(2);
AllSloverTheta(k+1,:)=[theta1_1 theta2(1)-p2*pi/180 theta3(1) theta4(1)-p4*pi/180 theta5_1 theta6_1];
AllSloverTheta(k+2,:)=[theta1_1 theta2(2)-p2*pi/180 theta3(2) theta4(2)-p4*pi/180 theta5_1 theta6_1];
k=k+2;
end
end
if abs(S5_2)>1e-6
theta6_2=atan2((-sin(theta1_1)*ox+cos(theta1_1)*oy)/S5_2,(sin(theta1_1)*nx-cos(theta1_1)*ny)/S5_2);
S234(2)=-az/S5_2;C234(2)=-(cos(theta1_1)*ax+sin(theta1_1)*ay)/S5_2;theta234(2)=atan2(S234(2),C234(2));
B1(2)=cos(theta1_1)*px+sin(theta1_1)*py-d5*S234(2);B2(2)=pz-d1+d5*C234(2);
A(2)=-2*B2(2)*a2;B(2)=2*B1(2)*a2;C(2)=B1(2)^2+B2(2)^2+a2^2-a3^2;
if A(2)^2+B(2)^2-C(2)^2>=0
theta2(3)=atan2(B(2),A(2))-atan2(C(2),sqrt(A(2)^2+B(2)^2-C(2)^2));
theta2(4)=atan2(B(2),A(2))-atan2(C(2),-sqrt(A(2)^2+B(2)^2-C(2)^2));
theta23(3)=atan2((B2(2)-a2*sin(theta2(3)))/a3,(B1(2)-a2*cos(theta2(3)))/a3);
theta23(4)=atan2((B2(2)-a2*sin(theta2(4)))/a3,(B1(2)-a2*cos(theta2(4)))/a3);
theta4(3)=theta234(2)-theta23(3);
theta4(4)=theta234(2)-theta23(4);
theta3(3)=theta23(3)-theta2(3);
theta3(4)=theta23(4)-theta2(4);
AllSloverTheta(k+1,:)=[theta1_1 theta2(3)-p2*pi/180 theta3(3) theta4(3)-p4*pi/180 theta5_2 theta6_2];
AllSloverTheta(k+2,:)=[theta1_1 theta2(4)-p2*pi/180 theta3(4) theta4(4)-p4*pi/180 theta5_2 theta6_2];
k=k+2;
end
end
if abs(S5_3)>1e-6
theta6_3=atan2((-sin(theta1_2)*ox+cos(theta1_2)*oy)/S5_3,(sin(theta1_2)*nx-cos(theta1_2)*ny)/S5_3);
S234(3)=-az/S5_3;C234(3)=-(cos(theta1_2)*ax+sin(theta1_2)*ay)/S5_3;theta234(3)=atan2(S234(3),C234(3));
B1(3)=cos(theta1_2)*px+sin(theta1_2)*py-d5*S234(3);B2(3)=pz-d1+d5*C234(3);
A(3)=-2*B2(3)*a2;B(3)=2*B1(3)*a2;C(3)=B1(3)^2+B2(3)^2+a2^2-a3^2;
if A(3)^2+B(3)^2-C(3)^2>=0
theta2(5)=atan2(B(3),A(3))-atan2(C(3),sqrt(A(3)^2+B(3)^2-C(3)^2));
theta2(6)=atan2(B(3),A(3))-atan2(C(3),-sqrt(A(3)^2+B(3)^2-C(3)^2));
theta23(5)=atan2((B2(3)-a2*sin(theta2(5)))/a3,(B1(3)-a2*cos(theta2(5)))/a3);
theta23(6)=atan2((B2(3)-a2*sin(theta2(6)))/a3,(B1(3)-a2*cos(theta2(6)))/a3);
theta4(5)=theta234(3)-theta23(5);
theta4(6)=theta234(3)-theta23(6);
theta3(5)=theta23(5)-theta2(5);
theta3(6)=theta23(6)-theta2(6);
AllSloverTheta(k+1,:)=[theta1_2 theta2(5)-p2*pi/180 theta3(5) theta4(5)-p4*pi/180 theta5_3 theta6_3];
AllSloverTheta(k+2,:)=[theta1_2 theta2(6)-p2*pi/180 theta3(6) theta4(6)-p4*pi/180 theta5_3 theta6_3];
k=k+2;
end
end
if abs(S5_4)>1e-6
theta6_4=atan2((-sin(theta1_2)*ox+cos(theta1_2)*oy)/S5_4,(sin(theta1_2)*nx-cos(theta1_2)*ny)/S5_4);
S234(4)=-az/S5_4;C234(4)=-(cos(theta1_2)*ax+sin(theta1_2)*ay)/S5_4;theta234(4)=atan2(S234(4),C234(4));
B1(4)=cos(theta1_2)*px+sin(theta1_2)*py-d5*S234(4);B2(4)=pz-d1+d5*C234(4);
A(4)=-2*B2(4)*a2;B(4)=2*B1(4)*a2;C(4)=B1(4)^2+B2(4)^2+a2^2-a3^2;
if A(4)^2+B(4)^2-C(4)^2>=0
theta2(7)=atan2(B(4),A(4))-atan2(C(4),sqrt(A(4)^2+B(4)^2-C(4)^2));
theta2(8)=atan2(B(4),A(4))-atan2(C(4),-sqrt(A(4)^2+B(4)^2-C(4)^2));
theta23(7)=atan2((B2(4)-a2*sin(theta2(7)))/a3,(B1(4)-a2*cos(theta2(7)))/a3);
theta23(8)=atan2((B2(4)-a2*sin(theta2(8)))/a3,(B1(4)-a2*cos(theta2(8)))/a3);
theta4(7)=theta234(4)-theta23(7);
theta4(8)=theta234(4)-theta23(8);
theta3(7)=theta23(7)-theta2(7);
theta3(8)=theta23(8)-theta2(8);
AllSloverTheta(k+1,:)=[theta1_2 theta2(7)-p2*pi/180 theta3(7) theta4(7)-p4*pi/180 theta5_4 theta6_4];
AllSloverTheta(k+2,:)=[theta1_2 theta2(8)-p2*pi/180 theta3(8) theta4(8)-p4*pi/180 theta5_4 theta6_4];
k=k+2;
end
end
if k>0
AllSloverTheta=AllSloverTheta*180/pi;%将弧度转化成角度
for i=1:k
for j=1:6
if AllSloverTheta(i,j)<=-180
AllSloverTheta(i,j)=AllSloverTheta(i,j)+360;%将角度限定在-180—+180
elseif AllSloverTheta(i,j)>180
AllSloverTheta(i,j)=AllSloverTheta(i,j)-360;%将角度限定在-180—+180
end
end
end
else
disp('Singular position Unable to solve');
end
end
end限位
8.建立机器人
MDH_Verify.m
clear,clc,close all;
%% 建立机器人DH参数，初始状态为竖直状态
% d：连杆偏距 ； a：杆长 ；alpha：连杆转角 ； offset初始关节角度；
L1=Link('d',144,'a',0,'alpha',0,'modified');
L2=Link('d',0,'a',0,'alpha',pi/2,'offset',-pi/2,'modified');
L3=Link('d',0,'a',-264,'alpha',0,'modified');
L4=Link('d',106,'a',-236,'alpha',0,'offset',-pi/2,'modified');
L5=Link('d',114,'a',0,'alpha',pi/2,'modified');
L6=Link('d',67,'a',0,'alpha',-pi/2,'modified');
%建立机器人
robot=SerialLink([L1 L2 L3 L4 L5 L6],'name','Arm6')
% 初始角度 都为0
%Theta=[0 0 0 0 0 0];
Theta=[-30.0000 -58.2807 30.0000 -61.7193 -30.0000 -30.0000];
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,-1000,+1000]; %限制坐标轴的范围
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9. 验证正逆解的结果 利用机器人工具箱
ToolBoxVerify_MDH.m
clear,clc,close all;
%% 建立机器人DH参数，初始状态为竖直状态
% 连杆偏移d,连杆长度a,连杆扭转角alpha modified：改进dh参数来表示的
L1=Link('d',144,'a',0,'alpha',0,'modified');
L2=Link('d',0,'a',0,'alpha',pi/2,'offset',-pi/2,'modified');
L3=Link('d',0,'a',-264,'alpha',0,'modified');
L4=Link('d',106,'a',-236,'alpha',0,'offset',-pi/2,'modified');
L5=Link('d',114,'a',0,'alpha',pi/2,'modified');
L6=Link('d',67,'a',0,'alpha',-pi/2,'modified');
robot=SerialLink([L1 L2 L3 L4 L5 L6],'name','Arm6');
%% 正解，给定关节角，求末端位姿，样例
% Theta = [0 0 0 0 0 0]; %给定6个关节角度值
% Theta=[30 30 30 30 30 30];
% Theta=[-30 -30 -30 -30 -30 -30];
%%调用正解函数，后面不加分号表示会打印输出变量
% [T60,Pos]=ForwardSolver_MDH(Theta) % Pos=[X,Y,Z,Rall,Pitch,Yaw];
%% 逆解，给定末端位姿求关节角，(X,Y,Z单位为mm)，(Rall,Pitch,Yaw单位为deg)
Pos=[308.0304 -367.2397 524.1307 43.8979 -25.6589 56.3099]; %给定末端位姿
% Pos=[300 400 300 0 0 0];
AllSloverTheta=InverseSolver_MDH(Pos) %根据末端位姿求所有解
Theta=AllSloverTheta(1,1:end) %选择第一组解，PTP程序是默认为第一组解
%% 验证正逆解的结果
Theta=Theta/180*pi; %换算成弧度
forwarda=robot.fkine(Theta) %求正解的齐次变换矩阵
%位置
X=forwarda(1).t(1);
Y=forwarda(1).t(2);
Z=forwarda(1).t(3);
W=[-1000,+1000,-1000,+1000,-1000,+1000];%限制坐标轴的范围 w：限制plot工作空间
robot.plot(Theta,'tilesize',150,'workspace',W); %显示三维动画 w：限制工作空间 tilesize：限制地板方块的尺寸
q1=robot.ikine(forwarda)*180/pi %求逆解验证关节角 给齐次变换矩阵forwarda 反求角度值
rpy=tr2rpy(forwarda, 'xyz')*180/pi %求末端姿态，工具法兰为绕XYZ轴旋转；齐次变换矩阵反求rpy 'xyz'：绕XYZ轴的顺序进行旋转
robot.teach(forwarda,'rpy' ) %显示roll/pitch/yaw angles，GUI可调界面 调用教学模型来实时观看机械臂变化 'rpy'：rpy显示否则欧拉角显示命令行输入 ： format compact %紧凑显示输出
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