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T = transl(x, y, z)
is an SE(3) homogeneous transform (4x4) representing a pure translation of x, y and z.>> T=transl(0, 0, 0.62)
T =
1.0000 0 0 0
0 1.0000 0 0
0 0 1.0000 0.6200
0 0 0 1.0000
T = trotz(theta)
is a homogeneous transformation (4x4) representing a rotation of theta radians about the z-axis.>> T=trotz(pi/2)
T =
0.9996 -0.0274 0 0
0.0274 0.9996 0 0
0 0 1.0000 0
0 0 0 1.0000
robot=SerialLink([L1 L2 L3 L4 L5 L6],'name','puma560','base' , ...
transl(1, 1, 1)* trotz(pi/2)); %连接连杆,机器人取名puma560
% theta d a alpha offset
L1=Link([ 0 0 0 -pi/2 0 ],'standard'); %连杆的D-H参数
L2=Link([ 0 0 0.4318 0 0 ],'standard');
L3=Link([ 0 0.1501 0.0203 pi/2 0 ],'standard');
L4=Link([ 0 0.4318 0 -pi/2 0 ],'standard');
L5=Link([ 0 0 0 pi/2 0 ],'standard');
L6=Link([ 0 0 0 0 0 ],'standard');
连杆 | θ i \theta_{i} θi? | d d d | a a a | α \alpha α |
---|---|---|---|---|
1 | θ 1 \theta_{1} θ1? | 0 | 0 | -90 |
2 | θ 2 \theta_{2} θ2? | 149.09mm | 431.8mm | 0 |
3 | θ 3 \theta_{3} θ3? | 0 | -20.32mm | 90 |
4 | θ 4 \theta_{4} θ4? | 433.07mm | 0 | -90 |
5 | θ 5 \theta_{5} θ5? | 0 | 0 | 90 |
6 | θ 6 \theta_{6} θ6? | 56.25mm | 0 | 0 |
θ = [ π 2 , 0 , π 2 , 0 , 0 , 0 ] \theta=[\frac{\pi}{2},0,\frac{\pi}{2},0,0,0] θ=[2π?,0,2π?,0,0,0]
>> theta=[pi/2 0 pi/2 0 0 0];
>> T=robot.fkine(theta)
T =
0 -1 0 -0.1501
0 0 1 0.8636
-1 0 0 0.4797
0 0 0 1
θ = [ ? π 2 , 0 , ? π 2 , 0 , 0 , 0 ] \theta=[-\frac{\pi}{2},0,-\frac{\pi}{2},0,0,0] θ=[?2π?,0,?2π?,0,0,0]
>> theta=[-pi/2 0 -pi/2 0 0 0];
>> T=robot.fkine(theta)
T =
0 1 0 0.1501
0 0 1 0
1 0 0 0.5203