1.2逆运动学
已知机器人末端执行器的位姿,求每个关节的关节变量,求解方法一般有几何法和代数法。以PUMA-560机器人为例,使用代数法进行逆运动学求解。
已知:
T60=T01*T12*T23*T34*T45*T56;
T60左乘T01的逆得到:
T1=inv(T01)*T60=T12*T23*T34*T45*T56=T2;
使用matlab计算T1和T2:
T1 =
[ (nx*cos(theta1))/(cos(theta1)^2 + sin(theta1)^2) + (ny*sin(theta1))/(cos(theta1)^2 + sin(theta1)^2), (ox*cos(theta1))/(cos(theta1)^2 + sin(theta1)^2) + (oy*sin(theta1))/(cos(theta1)^2 + sin(theta1)^2), (ax*cos(theta1))/(cos(theta1)^2 + sin(theta1)^2) + (ay*sin(theta1))/(cos(theta1)^2 + sin(theta1)^2), (px*cos(theta1))/(cos(theta1)^2 + sin(theta1)^2) + (py*sin(theta1))/(cos(theta1)^2 + sin(theta1)^2)]
[ (ny*cos