机械臂 标准DH建模与改进DH建模

 

参考这篇博客，非常感谢

https://blog.csdn.net/u013528298/article/details/81021386?utm_source=blogxgwz8

ZX变换和XZ类变换

对这张图 解释 有很多

https://blog.csdn.net/qq_21834027/article/details/85206561

两者的不同

让我感觉很奇怪的是   很多人把这个 写成 叉乘  。是点乘。

   syms za di ai xa;
   Rot_Z=str2sym('[cos(za),-sin(za),0,0;sin(za),cos(za),0,0;0,0,1,0;0,0,0,1]');
   Trans_Z=str2sym('[1,0,0,0;0,1,0,0;0,0,1,di;0,0,0,1]');
   Trans_X=str2sym('[1,0,0,ai;0,1,0,0;0,0,1,0;0,0,0,1]');
   Rot_X=str2sym('[1,0,0,0;0,cos(xa),-sin(xa),0;0,sin(xa),cos(xa),0;0,0,0,1]');
 
   %   标准DH
   A = Rot_Z*Trans_Z*Trans_X*Rot_X
   %  改进DH
   B = Rot_X*Trans_X*Rot_Z*Trans_Z

在命令行 窗口里得到结果

A =
 
[ cos(za), -cos(xa)*sin(za),  sin(xa)*sin(za), ai*cos(za)]
[ sin(za),  cos(xa)*cos(za), -cos(za)*sin(xa), ai*sin(za)]
[       0,          sin(xa),          cos(xa),         di]
[       0,                0,                0,          1]
 
 
B =
 
[         cos(za),        -sin(za),        0,          ai]
[ cos(xa)*sin(za), cos(xa)*cos(za), -sin(xa), -di*sin(xa)]
[ sin(xa)*sin(za), cos(za)*sin(xa),  cos(xa),  di*cos(xa)]
[               0,               0,        0,           1]