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六轴机器人建模方法、正逆解、轨迹规划实例与Matalb Robotic Toolbox 的实现 (18.2)
Bilibili Matlab 机器人工具箱Robotic Toolbox下载及安装教程
【Robotics Toolbox】MATLAB机器人工具箱使用教程[MATLAB2020a+Robotics Toolbox v10.4，本文持续更新。]
DH与改进DH模型的区别
将基坐标系表示为b，工具坐标系e，则工具坐标系到基坐标系的转换矩阵为：
b T 0 ⋅ ( 0 T 1 ⋅ 1 T 2 ⋅ 2 T 3 ⋅ 3 T 4 ⋅ 4 T 5 ⋅ 5 T 6 ) ⋅ 6 T e = b T e {}^{b}{
{T}_{0}}\cdot ({}^{0}{
{T}_{1}}\cdot {}^{1}{
{T}_{2}}\cdot {}^{2}{
{T}_{3}}\cdot {}^{3}{
{T}_{4}}\cdot {}^{4}{
{T}_{5}}\cdot {}^{5}{
{T}_{6}})\cdot {}^{6}{
{T}_{e}}={}^{b}{
{T}_{e}} bT0⋅(0T1⋅1T2⋅2T3⋅3T4⋅4T5⋅5T6)⋅6Te=
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