clear;
clc;
L1 = Link([-pi/2 0 0 0 0],'standard');
L2 = Link([0 10 0 -pi/2 0],'standard');
L3 = Link([0 9.5 0 0 0],'standard');
L4 = Link([-pi/2 3.2 -pi/2 0 0],'standard');
L5 = Link([0 0 0 14.5 0],'standard');
r = SerialLink([L1 L2 L3 L4 L5]);
%r.name = '5R工业机械臂-上电姿态';
q = [0 -pi/2 0 -pi/2 0];
r.teach(q);
T = fkine(r,q);
MDH=[-pi/2 0 0 0 0;
0 10 0 -pi/2 0;
0 9.5 0 0 0;
-pi/2 3.2 -pi/2 0 0;
0 0 0 14.5 0;];
T01=[cos(MDH(1,1)) -sin(MDH(1,1)) 0 MDH(1,3);
cos(MDH(1,4))*sin(MDH(1,1)) cos(MDH(1,4))*cos(MDH(1,1)) -sin(MDH(1,4)) -MDH(1,2)*sin(MDH(1,4));
sin(MDH(1,4))*sin(MDH(1,1)) sin(MDH(1,4))*cos(MDH(1,1)) cos(MDH(1,4)) MDH(1,2)*cos(MDH(1,4))