【机器人学习】平台并联机构matlab逆解

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https://download.csdn.net/download/yjw0911/85104479
clc
clear all
close all

%动静平台初始相对位置

XP = 0;
YP = 0;
ZP = 271.8;

X = 0;
Y = 0;
Z = 0;

ROLL = 0;
PITCH = 0;
YAW = 0;

P = [ X+XP; Y+YP; Z+ZP ];

move_R = 213.1339;
base_r = 308;

%动静平台铰点分布

up_angle0 = -42.5;
up_angle1 = -17.5;
up_angle2 = 77.5;
up_angle3 = 102.5;
up_angle4 = -162.5;
up_angle5 = -137.5;

down_angle0 = -77.5;
down_angle1 = 17.5;
down_angle2 = 42.5;
down_angle3 = 137.5;
down_angle4 = 162.5;
down_angle5 = -102.5;
略。。。。。
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