touch x 通过D-H法进行运动学分析的matlab代码

以下是基于D-H法的机器人运动学分析的Matlab代码示例：

syms a1 a2 d1 d2 q1 q2

% DH参数
DH_params = [0, 0, d1, q1;
             a1, 0, 0, q2;
             a2, 0, d2, 0];

% 转换矩阵
T = eye(4);
for i = 1:size(DH_params, 1)
    a = DH_params(i, 1);
    alpha = DH_params(i, 2);
    d = DH_params(i, 3);
    q = DH_params(i, 4);
    T = T * [cos(q), -sin(q)*cos(alpha), sin(q)*sin(alpha), a*cos(q);
             sin(q), cos(q)*cos(alpha), -cos(q)*sin(alpha), a*sin(q);
             0, sin(alpha), cos(alpha), d;
             0, 0, 0, 1];
end

% 输出末端执行器位置和姿态
px = simplify(T(1, 4));
py = simplify(T(2, 4));
pz = simplify(T(3, 4));
rx = simplify(atan2(T(3, 2), T(3, 3)));
ry = simplify(atan2(-T(3, 1), sqrt(T(3, 2)^2 + T(3, 3)^2)));
rz = simplify(atan2(T(2, 1), T(1, 1)));

% 代入DH参数和关节角度
DH_values = [a1, a2, d1, d2, q1, q2];
q_values = [0.5, -0.3];
px_val = double(subs(px, DH_params, DH_values));
py_val = double(subs(py, DH_params, DH_values));
pz_val = double(subs(pz, DH_params, DH_values));
rx_val = double(subs(rx, [DH_params, q1, q2], [DH_values, q_values]));
ry_val = double(subs(ry, [DH_params, q1, q2], [DH_values, q_values]));
rz_val = double(subs(rz, [DH_params, q1, q2], [DH_values, q_values]));

% 输出结果
disp(['末端执行器位置：(', num2str(px_val), ', ', num2str(py_val), ', ', num2str(pz_val), ')']);
disp(['末端执行器姿态：(', num2str(rx_val), ', ', num2str(ry_val), ', ', num2str(rz_val), ')']);

该示例代码使用了syms函数来定义符号变量，然后根据DH参数计算出变换矩阵T，再根据T求出机器人末端执行器的位置和姿态。最后，将DH参数和关节角度代入计算结果，并输出末端执行器的位置和姿态。