matlab机械臂求逆解代码
时间: 2023-07-03 22:26:12 浏览: 50
机械臂求逆解是机械臂运动学中的一个重要内容,MATLAB提供了多种求解方法。以下是一种示例代码:
```matlab
% 机械臂DH参数
d1 = 0.3;
a2 = 0.4;
a3 = 0.2;
d4 = 0.4;
% 机械臂末端执行器的目标位置和姿态
x = 0.5;
y = 0.3;
z = 0.4;
phi = pi/6; % 绕x轴旋转30度
% 求解theta1
theta1 = atan2(y, x);
% 求解theta3
r = sqrt(x^2 + y^2) - d1;
s = z - d4;
D = (r^2 + s^2 - a2^2 - a3^2) / (2 * a2 * a3);
theta3 = atan2(-sqrt(1 - D^2), D);
% 求解theta2
K1 = a2 + a3*cos(theta3);
K2 = a3*sin(theta3);
theta2 = atan2(s, r) - atan2(K2, K1);
% 求解theta4、theta5、theta6
T06 = [cos(theta1)*cos(theta2+theta3) - sin(theta1)*sin(theta2+theta3)*cos(phi), -cos(theta1)*sin(theta2+theta3) - sin(theta1)*cos(theta2+theta3)*cos(phi), sin(theta1)*sin(phi), x;
sin(theta1)*cos(theta2+theta3) + cos(theta1)*sin(theta2+theta3)*cos(phi), -sin(theta1)*sin(theta2+theta3) + cos(theta1)*cos(theta2+theta3)*cos(phi), -cos(theta1)*sin(phi), y;
sin(theta2+theta3)*sin(phi), cos(theta2+theta3)*sin(phi), cos(phi), z + d1 - d4;
0, 0, 0, 1];
R06 = T06(1:3,1:3);
theta5 = acos(R06(3,3));
theta4 = atan2(R06(2,3)/sin(theta5), R06(1,3)/sin(theta5));
theta6 = atan2(R06(3,2)/sin(theta5), -R06(3,1)/sin(theta5));
```
其中,d1、a2、a3、d4是机械臂的DH参数,x、y、z、phi是机械臂末端执行器的目标位置和姿态,theta1、theta2、theta3、theta4、theta5、theta6是机械臂的关节角度。