六轴机械臂运动学python代码

六轴机械臂的运动学涉及到空间变换和姿态表示，通常使用Python编程语言可以方便地处理数学计算。在Python中，常用的库如NumPy、SciPy、Matplotlib等可以帮助我们构建模型。以下是一个简单的六轴（UR5或KUKA LWR等）机械臂运动学的Python代码概述：

import numpy as np
from math import pi

# 定义关节角度变量
q = [0, 0, 0, 0, 0, 0]  # 假设六个关节的初始角度

def homogeneous_transformation(q):
    T = np.eye(4)
    T[:3, :3] = np.array([[np.cos(q), -np.sin(q), 0],
                           [np.sin(q) * np.cos(q), np.cos(q) * np.cos(q), -np.sin(q)],
                           [np.sin(q) * np.sin(q) * np.cos(q), np.cos(q) * np.sin(q) * np.cos(q),
                            np.cos(q) * np.cos(q)]])
    T[:3, 3] = [np.cos(q) * np.sin(q) * np.sin(q) * np.cos(q) - np.sin(q),
                np.cos(q) * np.sin(q) * np.sin(q) * np.sin(q) + np.cos(q),
                np.cos(q) * np.sin(q) - np.cos(q) * np.sin(q) * np.cos(q) * np.sin(q)]
    return T

# 示例：计算末端工具坐标
base_transform = homogeneous_transformation(q)  # 基座坐标
end_effector_transform = base_transform @ ...  # 连接所有关节变换

# 显示末端位置和方向
position = end_effector_transform[:3, 3]
orientation = end_effector_transform[:3, :3]

print(f"End effector position: {position}")
print(f"End effector orientation: {orientation}")