利用matlab求运动学,Matlab Robotics 逆运动学求解函数（ikine）分析

%SerialLink.ikine Inverse kinematics by optimization without joint limits

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% Q = R.ikine(T) are the joint coordinates (1xN) corresponding to the robot

% end-effector pose T which is an SE3 object or homogenenous transform

% matrix (4x4), and N is the number of robot joints.

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% This method can be used for robots with any number of degrees of freedom.

% 这个方法适用于任意自由度的机器人

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% Options::

% 'ilimit',L maximum number of iterations (default 500) 迭代次数

% 'rlimit',L maximum number of consecutive step rejections (default 100) 最大连续拒绝次数

% 'tol',T final error tolerance (default 1e-10) 最终误差容限

% 'lambda',L initial value of lambda (default 0.1) 步长

% 'lambdamin',M minimum allowable value of lambda (default 0)步长的最小值

% 'quiet' be quiet输出保持安静

% 'verbose' be verbose输出内容详细

% 'mask',M mask vector (6x1) that correspond to translation in X, Y and Z,

% and rotation about X, Y and Z respectively.mask向量，表示机器人自由度

% 'q0',Q initial joint configuration (default all zeros) 迭代的初始关节形位

% 'search' search over all configurations 搜索所有形位

% 'slimit',L maximum number of search attempts (default 100) 最大搜索尝试数目

% 'transpose',A use Jacobian transpose with step size A, rather than

% Levenberg-Marquadt 使用步长为A的雅可比转置，而不是LM方法

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% Trajectory operation::

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% In all cases if T is a vector of SE3 objects (1xM) or a homogeneous

% transform sequence (4x4xM) then returns the joint coordinates

% corresponding to each of the transforms in the sequence. Q is MxN where

% N is the number of robot joints. The initial estimate of Q for each time

% step is taken as the solution from the previous time step.

% 使用上一步的解作为当前步的初始值

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% Underactuated robots:: 欠驱动机器人

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% For the case where the manipulator has fewer than 6 DOF the solution

% space has more dimensions than can be spanned by the manipulator joint

% coordinates.

% 欠驱动机器人解空间维数比关节坐标维数多？

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% In this case we specify the 'mask' option where the mask

% vector (1x6) specifies the Cartesian DOF (in the wrist coordinate

% frame) that will be ignored in reaching a solution. The mask vector

% has six elements that correspond to translation in X, Y and Z