6-UHU结构并联机器人正解matlab

以下是一个6-UHU结构并联机器人正解的MATLAB代码示例：

% 机器人结构参数
L1 = 10; L2 = 15; L3 = 20; L4 = 18; L5 = 8; L6 = 6;

% 末端执行器的位置和姿态
px = 30; py = 20; pz = 15; rx = pi/4; ry = pi/6; rz = pi/3;

% 求解关节角度
theta1 = atan2(py, px);
theta2 = atan2(pz - L1, sqrt(px^2 + py^2) - L6);
theta3 = acos((L2^2 + (sqrt(px^2 + py^2) - L6)^2 + (pz - L1)^2 - L3^2 - L4^2) / (2 * L3 * L4));
theta4 = atan2(pz - L1 - L4 * sin(theta3), sqrt(px^2 + py^2) - L6 - L4 * cos(theta3));
theta5 = atan2(sin(theta4) * (cos(theta1) * cos(rx) * cos(ry) + sin(theta1) * sin(ry)) + cos(theta4) * (cos(theta1) * cos(rz) * sin(ry) - sin(theta1) * cos(rz) * cos(rx)), cos(theta4) * (cos(theta1) * cos(rx) * cos(ry) + sin(theta1) * sin(ry)) - sin(theta4) * (cos(theta1) * cos(rz) * sin(ry) - sin(theta1) * cos(rz) * cos(rx)));
theta6 = atan2(cos(theta5) * (cos(theta1) * cos(rx) * cos(ry) + sin(theta1) * sin(ry)) - sin(theta5) * (cos(theta1) * cos(rz) * sin(ry) - sin(theta1) * cos(rz) * cos(rx)), cos(theta5) * (cos(theta1) * cos(rz) * cos(ry) + sin(theta1) * cos(rz) * cos(rx)) + sin(theta5) * (cos(theta1) * sin(rx)));

% 各变换矩阵
T01 = [cos(theta1) 0 sin(theta1) 0; sin(theta1) 0 -cos(theta1) 0; 0 1 0 L1; 0 0 0 1];
T12 = [cos(theta2) -sin(theta2) 0 L6 * cos(theta2); sin(theta2) cos(theta2) 0 L6 * sin(theta2); 0 0 1 0; 0 0 0 1];
T23 = [cos(theta3) -sin(theta3) 0 L4 * cos(theta3); sin(theta3) cos(theta3) 0 L4 * sin(theta3); 0 0 1 L2; 0 0 0 1];
T34 = [cos(theta4) -sin(theta4) 0 0; 0 0 -1 -(pz - L1 - L4 * sin(theta3)); sin(theta4) cos(theta4) 0 L3 + L6 + L4 * cos(theta3); 0 0 0 1];
T45 = [cos(theta5) -sin(theta5) 0 0; sin(theta5) cos(theta5) 0 0; 0 0 1 L5; 0 0 0 1];
T56 = [cos(theta6) -sin(theta6) 0 0; 0 0 -1 0; sin(theta6) cos(theta6) 0 0; 0 0 0 1];

% 正解
T06 = T01 * T12 * T23 * T34 * T45 * T56;

% 输出结果
disp(['末端执行器位置：(', num2str(px), ', ', num2str(py), ', ', num2str(pz), ')']);
disp(['末端执行器姿态：(', num2str(rx), ', ', num2str(ry), ', ', num2str(rz), ')']);
disp(['关节角度：(', num2str(theta1), ', ', num2str(theta2), ', ', num2str(theta3), ', ', num2str(theta4), ', ', num2str(theta5), ', ', num2str(theta6), ')']);

需要根据具体机器人的结构和参数、末端执行器的位置和姿态来修改代码中的参数，以得到正确的结果。