IRB2400机械臂逆解代码

IRB2400机械臂的逆解可以使用数学方法进行推导，然后编写代码实现。以下是一个简单的逆解代码示例，仅供参考：

import numpy as np

# 机械臂参数
d1 = 0.7
a2 = 0.350
a3 = 1.2
d4 = -1.2
d6 = 0.2

# 目标位置
x = 0.5
y = -0.2
z = 1.0

# 计算第一关节角度
theta1 = np.arctan2(y, x)

# 计算第三关节角度
r = np.sqrt(x**2 + y**2)
s = z - d1
D = (r**2 + s**2 - a2**2 - a3**2) / (2*a2*a3)
theta3_1 = np.arctan2(-np.sqrt(1-D**2), D)
theta3_2 = np.arctan2(np.sqrt(1-D**2), D)
theta2_1 = np.arctan2(s, r) - np.arctan2(a3*np.sin(theta3_1), a2+a3*np.cos(theta3_1))
theta2_2 = np.arctan2(s, r) - np.arctan2(a3*np.sin(theta3_2), a2+a3*np.cos(theta3_2))

# 选择合适的第二、三关节角度
if abs(theta2_1) < abs(theta2_2):
    theta2 = theta2_1
    theta3 = theta3_1
else:
    theta2 = theta2_2
    theta3 = theta3_2

# 计算第四关节角度
c1 = np.cos(theta1)
s1 = np.sin(theta1)
c23 = np.cos(theta2 + theta3)
s23 = np.sin(theta2 + theta3)
r13_1 = -s1*c23*np.cos(theta4) - c1*np.sin(theta4)
r13_2 = -s1*c23*np.cos(theta4) + c1*np.sin(theta4)
r13_3 = -s23*np.cos(theta4)
theta4_1 = np.arctan2(np.sqrt(1-r13_1**2), r13_1)
theta4_2 = np.arctan2(np.sqrt(1-r13_2**2), r13_2)
theta4_3 = np.arctan2(np.sqrt(1-r13_3**2), r13_3)

# 选择合适的第四关节角度
if abs(theta4_1) < abs(theta4_2) and abs(theta4_1) < abs(theta4_3):
    theta4 = theta4_1
elif abs(theta4_2) < abs(theta4_1) and abs(theta4_2) < abs(theta4_3):
    theta4 = theta4_2
else:
    theta4 = theta4_3

# 计算第五关节角度
r12_1 = c1*c23*np.cos(theta4) - s1*np.sin(theta4)
r12_2 = c1*c23*np.cos(theta4) + s1*np.sin(theta4)
r12_3 = s23*np.cos(theta4)
theta5_1 = np.arctan2(np.sqrt(1-r12_1**2), r12_1)
theta5_2 = np.arctan2(np.sqrt(1-r12_2**2), r12_2)
theta5_3 = np.arctan2(np.sqrt(1-r12_3**2), r12_3)

# 选择合适的第五关节角度
if abs(theta5_1) < abs(theta5_2) and abs(theta5_1) < abs(theta5_3):
    theta5 = theta5_1
elif abs(theta5_2) < abs(theta5_1) and abs(theta5_2) < abs(theta5_3):
    theta5 = theta5_2
else:
    theta5 = theta5_3

# 计算第六关节角度
theta6 = np.arctan2(-r12_3*np.sin(theta5), r12_1*np.sin(theta5))

# 输出结果
print(f"theta1: {theta1}")
print(f"theta2: {theta2}")
print(f"theta3: {theta3}")
print(f"theta4: {theta4}")
print(f"theta5: {theta5}")
print(f"theta6: {theta6}")

需要注意的是，该代码仅适用于特定的机械臂参数和工作空间限制，实际应用中需要根据具体情况进行调整。