% matlab2016b,RTB 9.9
% clear;clc;close all;
L1=Link('d',0.144, 'a',0, 'alpha',0, 'offset',0, 'modified'); % MBD
L2=Link('d',0, 'a',0, 'alpha',pi/2, 'offset',-pi/2, 'modified');
L3=Link('d',0, 'a',-0.264, 'alpha',0, 'modified');
L4=Link('d',0.106, 'a',-0.236, 'alpha',0, 'offset',-pi/2, 'modified');
L5=Link('d',0.114, 'a',0, 'alpha',pi/2, 'modified');
L6=Link('d',0.067, 'a',0, 'alpha',-pi/2, 'modified');
% figure(1);
MDHrobot=SerialLink([L1 L2 L3 L4 L5 L6],'name','MDHUR5') ;
% MDHrobot.plot([0 0 0 0 0 0]); % 绘制出建模时的三维模型,显示当前输入的theta角
% MDHrobot.teach; % 可施教
% MDHrobot.display; % 打印机械臂相关信息
% 请注意,不论STDH还是MDH UR5 构型位姿都是末端到基座,基座不上移的情况下。
%% 实验一:模型验证
% L11=Link('d',0.144, 'a',0, 'alpha',pi/2, 'offset',0, 'standard');
% L22=Link('d',0, 'a',-0.264, 'alpha',0, 'offset',0, 'standard');
% L33=Link('d',0, 'a',-0.236, 'alpha',0, 'standard'); % 当2,4关节偏置-90度与MDH位姿一样
% L44=Link('d',0.106, 'a',0, 'alpha',pi/2, 'offset',0, 'standard');
% L55=Link('d',0.114, 'a',0, 'alpha',-pi/2, 'stand
04-11
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07-28
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