ur5 正运动学c++代码

以下是一个简单的UR5正运动学的C代码示例：

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

// UR5正运动学函数
void ur5_forward_kinematics(double* joint_angles, double* end_effector_pose)
{
    // UR5机械臂的DH参数
    double d[6] = { 0.089159,0.13585, 0.1197, 0.088, 0.088, 0.0823 };
    double a[6] = { 0, -0.425, -0.39225, 0, 0, 0 };
    double alpha[6] = { M_PI_2, 0, 0, M_PI_2, -M_PI_2, 0 };

    // UR5机械臂的关节角度
    double theta[6];
    for (int i = 0; i < 6; i++)
    {
        theta[i] = joint_angles[i] + M_PI_2;
    }

    // 执行正运动学计算
    double T[4][4];
    for (int i = 0; i < 4; i++)
    {
        for (int j = 0; j < 4; j++)
        {
            if (i == j)
            {
                T[i][j] = 1;
            }
            else
            {
                T[i][j] = 0;
            }
        }
    }

    for (int i = 0; i < 6; i++)
    {
        double c_theta = cos(theta[i]);
        double s_theta = sin(theta[i]);
        double c_alpha = cos(alpha[i]);
        double s_alpha = sin(alpha[i]);

        T[0][3] = a[i] * c_theta;
        T[1][3] = a[i] * s_theta;
        T[2][3] = d[i];

        T[0][0] = c_theta * c_alpha;
        T[0][1] = -s_theta * c_alpha;
        T[0][2] = s_alpha;

        T[1][0] = c_theta * s_alpha;
        T[1][1] = -s_theta * s_alpha;
        T[1][2] = -c_alpha;

        T[2][0] = s_theta;
        T[2][1] = c_theta;
        T[2][2] = 0;

        double temp[4];
        for (int j = 0; j < 4; j++)
        {
            temp[j] = 0;
            for (int k = 0; k < 4; k++)
            {
                temp[j] += T[j][k] * end_effector_pose[k];
            }
        }

        for (int j = 0; j < 4; j++)
        {
            end_effector_pose[j] = temp[j];
        }
    }
}

int main()
{
    // UR5的关节角度
    double joint_angles[6] = { 0, 0, 0, 0, 0, 0 };
    // 结束执行器的位姿（XYZ坐标和RPY角度）
    double end_effector_pose[6] = { 0, 0, 0, 0, 0, 0 };

    ur5_forward_kinematics(joint_angles, end_effector_pose);

    printf("End Effector Pose:\n");
    printf("X: %f\n", end_effector_pose[0]);
    printf("Y: %f\n", end_effector_pose[1]);
    printf("Z: %f\n", end_effector_pose[2]);
    printf("Roll: %f\n", end_effector_pose[3]);
    printf("Pitch: %f\n", end_effector_pose[4]);
    printf("Yaw: %f\n", end_effector_pose[5]);

    return 0;
}

这段代码实现了UR机器人的正运动学计算，将给定的关节角度转换为末端执行器的位姿（XYZ坐标和RPY角度）。在`main`函数中，你可以设置`joint_angles`数组中的关节角度，然后调用`ur5_forward_kinematics`函数计算末端执行器的位姿，并将结果打印出来。注意，这里使用的是C语言进行编写。