ur5 正运动学c++代码
时间: 2023-10-02 14:13:49 浏览: 152
UR机械臂运动学正解逆解完整代码C++版本
5星 · 资源好评率100%
以下是一个简单的UR5正运动学的C代码示例:
```c
#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。
阅读全文