机械臂逆运动学通用Matlab程序代码

使用逆运动学求解机械臂各关节角度的Matlab代码，可以根据自己机械臂连杆数调整参数

% Define the end-effector trajectory
end_effector_trajectory = [x1, y1, z1; x2, y2, z2; ...; xn, yn, zn];

% Define the DH parameters of the robot
d = [d1, d2, ..., dn];
a = [a1, a2, ..., an];
alpha = [alpha1, alpha2, ..., alphan];
theta = [theta1, theta2, ..., thetan];

% Define the number of joint angles
n = length(d);

% Initialize the joint angles
q = zeros(n, 1);

% Solve for the joint angles
for i = 1:size(end_effector_trajectory, 1)
    % Compute the forward kinematics
    T = forward_kinematics(d, a, alpha, theta);
    
    % Compute the end-effector position
    end_effector_position = T(1:3, 4);
    
    % Compute the error between the desired and actual end-effector position
    error = end_effector_trajectory(i, :)' - end_effector_position;
    
    % Use gradient descent to update the joint angles
    q = q + alpha * J' * error;
    
    % Update the joint angles
    theta = q;
end

% Plot the joint angles
plot(1:size(end_effector_trajectory, 1), q);
xlabel('Time step');
ylabel('Joint angle');

其中，forward_kinematics 函数用于计算机械臂的正运动学，并返回机械臂的位姿（转换矩阵）。J 表示雅可比矩阵。