双足机器人逆运动学求解matlab代码
时间: 2023-05-29 21:05:56 浏览: 138
以下是一个示例代码,使用了D-H参数法,可以求解双足机器人的逆运动学。
```
% 双足机器人逆运动学求解
% 使用D-H参数法
% 作者:机器人小助手
clc;
clear;
% 假设机器人参数如下
a1 = 0.2;
a2 = 0.2;
d1 = 0.3;
d3 = 0.4;
% 目标位姿
T = [0 0 1 0.6;
0 1 0 0;
-1 0 0 0.5;
0 0 0 1];
% 计算关节角
% 第一组解
theta1 = atan2(T(2,4), T(1,4));
theta2 = acos((T(1,4)^2 + T(2,4)^2 - a1^2 - a2^2) / (2*a1*a2));
theta3 = acos((a1^2 + a2^2 - T(1,4)^2 - T(2,4)^2) / (2*a1*a2));
theta4 = atan2(T(3,1), -T(3,2));
theta5 = atan2(sqrt(1-T(3,3)^2), T(3,3));
% 第二组解
theta2 = -theta2;
theta3 = -theta3;
% 计算转换矩阵
T01 = [cos(theta1) -sin(theta1) 0 0;
sin(theta1) cos(theta1) 0 0;
0 0 1 d1;
0 0 0 1];
T12 = [cos(theta2) -sin(theta2) 0 a1;
sin(theta2) cos(theta2) 0 0;
0 0 1 0;
0 0 0 1];
T23 = [cos(theta3) -sin(theta3) 0 a2;
sin(theta3) cos(theta3) 0 0;
0 0 1 d3;
0 0 0 1];
T34 = [cos(theta4) -sin(theta4) 0 0;
sin(theta4) cos(theta4) 0 0;
0 0 1 0;
0 0 0 1];
T45 = [cos(theta5) -sin(theta5) 0 0;
sin(theta5) cos(theta5) 0 0;
0 0 1 0;
0 0 0 1];
T05 = T01 * T12 * T23 * T34 * T45;
% 输出结果
fprintf('关节角:\n');
fprintf('theta1 = %.2f\n', theta1);
fprintf('theta2 = %.2f\n', theta2);
fprintf('theta3 = %.2f\n', theta3);
fprintf('theta4 = %.2f\n', theta4);
fprintf('theta5 = %.2f\n', theta5);
fprintf('\n');
fprintf('转换矩阵:\n');
disp(T05);
```