delta机器人逆解matlab代码

以下是一个简单的delta机器人逆解的MATLAB代码示例：

function [q1,q2,q3]=delta_invkin(x0,y0,z0)

%定义机器人参数
R_b=0.22; %底座半径
R_p=0.08; %平台半径
L=0.3; %杆长

%计算一些常量
theta1=120*pi/180; %第1个杆与x轴的夹角
theta2=240*pi/180; %第2个杆与x轴的夹角
theta3=0*pi/180; %第3个杆与x轴的夹角
z_offset=0.07; %底座高度

%计算平面坐标
x=x0;
y=y0;
r=sqrt(x^2+y^2);

%计算逆运动学
a=(2*L*(y+R_p*sin(theta2))-2*z0*R_b*sin(theta1))/(2*L^2-2*L^2*cos(theta1-theta2)-2*L^2*cos(theta2-theta3)+2*L^2*cos(theta1-theta3));
b=(2*L*(x+R_p*sin(theta1))-2*z0*R_b*sin(theta2))/(2*L^2-2*L^2*cos(theta1-theta2)-2*L^2*cos(theta2-theta3)+2*L^2*cos(theta1-theta3));
c=(2*z0*R_b*sin(theta3)-2*L*(x+R_p*sin(theta1))*cos(theta2-theta3)-2*L*(y+R_p*sin(theta2))*cos(theta1-theta3))/(2*L^2-2*L^2*cos(theta1-theta2)-2*L^2*cos(theta2-theta3)+2*L^2*cos(theta1-theta3));

q1=atan2(y+R_p*sin(theta2)-L*a*cos(theta2),x+R_p*sin(theta1)-L*b*cos(theta1))+pi/2;
q2=atan2(sqrt(1-a^2-b^2),a*cos(theta1-theta2)+b*cos(theta2-theta1))+pi/2;
q3=atan2(-cos(q1)*sin(q2+pi/2)*cos(theta1-theta2)-sin(q1)*sin(theta1-theta2)-cos(q1)*sin(q2+pi/2)*cos(theta2-theta3)-sin(q1)*sin(theta2-theta3),cos(q1)*sin(q2+pi/2)*sin(theta1-theta2)-cos(q1)*cos(theta1-theta2)*sin(theta2-theta3)-sin(q1)*cos(theta2-theta3))+pi;
q1=q1*180/pi;
q2=q2*180/pi;
q3=q3*180/pi+z_offset;
end

该代码实现了delta机器人的逆运动学，输入为机器人末端的三维坐标（x0、y0、z0），输出为机器人的关节角度（q1、q2、q3）。