四个关节角度值
时间: 2023-12-31 20:14:00 浏览: 29
好的,那您可以参考下面的代码,将您输入的四个关节角度值代入即可得到末端位姿误差。
```
clear all;
clc;
du = pi/180;
a = [0+0.001, 185+0.0079, 0+0.005, 120+0.12];
alpha = [pi/2+0.003, 0+0.001, pi/2+0.005, pi/2];
d = [0+0.001, 0+0.0079, 90+0.005, 0+0.12];
theta = [90du+0.02, 0, 0.023, 0.08];
beta = zeros(1, 4)+0;
L1(1) = Link('d', d(1), 'a', a(1), 'alpha', alpha(1), 'qlim', [180du, 365du], 'modified');
L1(2) = Link('d', d(2), 'a', a(2), 'alpha', alpha(2), 'qlim', [3du, 63du], 'modified');
L1(3) = Link('d', d(3), 'a', a(3), 'alpha', alpha(3), 'qlim', [60du, 120du], 'modified');
L1(4) = Link('d', d(4), 'a', a(4), 'alpha', alpha(4), 'qlim', [230du, 326du], 'modified');
Needle = SerialLink(L1, 'name', 'Needle');
% 输入四个关节角度值
theta = [30*du, 45*du, 60*du, 75*du];
% 计算正解得到末端位姿
T1 = DH(1, a(1), alpha(1), d(1), theta(1)+beta(1));
T2 = DH(2, a(2), alpha(2), d(2), theta(2)+beta(2));
T3 = DH(3, a(3), alpha(3), d(3), theta(3)+beta(3));
T4 = DH(4, a(4), alpha(4), d(4), theta(4)+beta(4));
T = T1 * T2 * T3 * T4;
% Step 2:利用微分变换原理计算机器人各个连杆机构之间的微小原始偏差
delta_a = 0.001; % a参数的微小偏差
delta_alpha = 0.001; % alpha参数的微小偏差
delta_d = 0.001; % d参数的微小偏差
delta_theta = 0.001; % theta参数的微小偏差
delta_beta = 0.001; % beta参数的微小偏差
delta_T1 = DH(1, a(1)+delta_a, alpha(1), d(1), theta(1)+beta(1)) - T1;
delta_T2 = DH(2, a(2)+delta_a, alpha(2), d(2), theta(2)+beta(2)) - T2;
delta_T3 = DH(3, a(3)+delta_a, alpha(3), d(3), theta(3)+beta(3)) - T3;
delta_T4 = DH(4, a(4)+delta_a, alpha(4), d(4), theta(4)+beta(4)) - T4;
% Step 3:计算误差矩阵
delta_T = delta_T1 * delta_T2 * delta_T3 * delta_T4;
% Step 4:将误差矩阵转化为误差值
delta_x = delta_T(1,4);
delta_y = delta_T(2,4);
delta_z = delta_T(3,4);
% 输出末端位姿误差
fprintf('末端位姿误差:\n');
fprintf('Delta x: %.6f mm\n', delta_x*1000);
fprintf('Delta y: %.6f mm\n', delta_y*1000);
fprintf('Delta z: %.6f mm\n', delta_z*1000);
```
请注意,这段代码中的四个关节角度值是我随意设定的,您需要将其修改为您需要计算的角度值。