robotics toolbox非常好用,刚用不久,会的不多,把知道的写出来。
我的是9版本,之后把用的资源发出来。
clc;
clear;
a = [0, -0.42500, -0.39225, 0, 0, 0];
alpha = [pi/2, 0, 0, pi/2, -pi/2, 0];
d = [0.089459, 0, 0, 0.10915, 0.09465, 0.0823];
mass = [3.7000, 8.3930, 2.33, 1.2190, 1.2190, 0.1897];
center_of_mass = [[0,-0.02561, 0.00193], [0.2125, 0, 0.11336], [0.15, 0, 0.0265], [0, -0.0018, 0.01634], [0, -0.0018, 0.01634], [0, 0, -0.001159]];
theta = [-0.5452 -1.1561 1.6150 -2.4635 -0.6130 -1.1233]
clc;
clear;是 清除之前的数据;下面部分是UR5的DH参数表
% th d a alpha
L1 = Link([-0.5452 0.089459 0 pi/2 ],'standard');
将6个轴连接