纯c语言机械臂6轴逆运动学代码

以下是一个基于纯C语言的机械臂6轴逆运动学代码示例：

#include <stdio.h>
#include <math.h>

#define PI 3.14159265

// 定义机械臂的尺寸
double l1 = 10, l2 = 20, l3 = 15, l4 = 12, l5 = 8, l6 = 5;

// 计算弧度
double toRadian(double angle) {
    return angle * PI / 180;
}

// 计算角度
double toDegree(double radian) {
    return radian * 180 / PI;
}

// 计算向量的长度
double length(double x, double y, double z) {
    return sqrt(x * x + y * y + z * z);
}

// 计算两个向量之间的夹角
double angle(double x1, double y1, double z1, double x2, double y2, double z2) {
    double l1 = length(x1, y1, z1);
    double l2 = length(x2, y2, z2);
    double dot = x1 * x2 + y1 * y2 + z1 * z2;
    return toDegree(acos(dot / (l1 * l2)));
}

int main() {
    // 定义末端执行器的位置
    double x = 10, y = 20, z = 30;

    // 计算关节角度
    double theta1 = atan2(y, x);
    double d = sqrt(x * x + y * y) - l1;
    double a = z - l6;
    double r1 = sqrt(d * d + a * a);
    double r2 = sqrt(l4 * l4 + l5 * l5);
    double beta1 = atan2(a, d);
    double gamma1 = acos((l2 * l2 + r1 * r1 - r2 * r2) / (2 * l2 * r1));
    double beta2 = acos((l2 * l2 + r2 * r2 - r1 * r1) / (2 * l2 * r2));
    double alpha2 = atan2(l5, l4);
    double theta2 = (beta1 + gamma1) - PI / 2;
    double theta4 = PI - beta2 - alpha2;
    double theta3 = atan2(a - l2 * sin(theta2), d - l2 * cos(theta2)) - theta2 - theta4;
    double theta5 = PI - angle(-sin(theta1) * sin(theta2 + theta3 + theta4), cos(theta1) * sin(theta2 + theta3 + theta4), cos(theta2 + theta3 + theta4), 0, 0, -1);
    double theta6 = angle(-cos(theta1) * sin(theta5), -sin(theta1) * sin(theta5), cos(theta5), -cos(theta1) * cos(theta2 + theta3 + theta4), -sin(theta1) * cos(theta2 + theta3 + theta4), -sin(theta2 + theta3 + theta4));

    // 将弧度转换为角度
    theta1 = toDegree(theta1);
    theta2 = toDegree(theta2);
    theta3 = toDegree(theta3);
    theta4 = toDegree(theta4);
    theta5 = toDegree(theta5);
    theta6 = toDegree(theta6);

    printf("关节角度: theta1=%.2f, theta2=%.2f, theta3=%.2f, theta4=%.2f, theta5=%.2f, theta6=%.2f\n", theta1, theta2, theta3, theta4, theta5, theta6);

    return 0;
}

以上代码中，我们假设机械臂由6个旋转关节组成，每个关节之间的长度分别为 `l1` 至 `l6`。我们首先计算出末端执行器的位置，然后通过一系列的三角函数计算得到每个关节的角度。最后将角度转换为弧度，输出得到的关节角度。