建的模型带有动力学参数估计才行,但这参数我也不知道怎么加。但有puma的例子
% alpha A theta D sigma
L{1} = link([0 0 0 0 0], 'mod');
L{2} = link([-pi/2 0 0 0.2435 0], 'mod');
L{3} = link([0 0.4318 0 -0.0934 0], 'mod');
L{4} = link([pi/2 -0.0203 0 .4331 0], 'mod');
L{5} = link([-pi/2 0 0 0 0], 'mod');
L{6} = link([pi/2 0 0 0 0], 'mod');
L{1}.m = 0;
L{2}.m = 17.4;
L{3}.m = 4.8;
L{4}.m = 0.82;
L{5}.m = 0.34;
L{6}.m = .09;
% rx ry rz
L{1}.r = [0 0 0 ];
L{2}.r = [0.068 0.006 -0.016];
L{3}.r = [0 -0.070 0.014 ];
L{4}.r = [0 0 -0.019];
L{5}.r = [0 0 0 ];
L{6}.r = [0 0 .032 ];
% Ixx Iyy Izz Ixy Iyz Ixz
L{1}.I = [0 0 0.35 0 0 0];
L{2}.I = [.13 .524 .539 0 0 0];
L{3}.I = [.066 .0125 .066 0 0 0];
L{4}.I = [1.8e-3 1.8e-3 1.3e-3 0 0 0];
L{5}.I = [.3e-3 .3e-3 .4e-3 0 0 0];
L{6}.I = [.15e-3 .15e-3 .04e-3 0 0 0];
L{1}.Jm = 291e-6;
L{2}.Jm = 409e-6;
L{3}.Jm = 299e-6;
L{4}.Jm = 35e-6;
L{5}.Jm = 35e-6;
L{6}.Jm = 35e-6;
L{1}.G = -62.6111;
L{2}.G = 107.815;
L{3}.G = -53.7063;
L{4}.G = 76.0364;
L{5}.G = 71.923;
L{6}.G = 76.686;
% viscous friction (motor referenced)
% unknown
% Coulomb friction (motor referenced)
% unknown
%
% some useful poses
%
qz = [0 0 0 0 0 0]; % zero angles, L shaped pose
qr = [0 -pi/2 pi/2 0 0 0]; % ready pose, arm up
qstretch = [0 0 pi/2 0 0 0]; % horizontal along x-axis
p560m = robot(L, 'Puma560-AKB', 'Unimation', 'AK&B');