写一个Matlab计算scara机器人正逆解代码

我可以回答这个问题。以下是一个简单的 Matlab 代码，用于计算 scara 机器人的正逆解：

% DH 参数
a1 = .5;
a2 = .3;
d1 = .2;
d3 = .1;

% 关节角度
theta1 = pi/4;
theta2 = pi/6;
d2 = .4;
theta4 = pi/3;

% 正解
T01 = [cos(theta1) -sin(theta1) a1*cos(theta1);
sin(theta1) cos(theta1) a1*sin(theta1);
1 d1;
1];
T12 = [cos(theta2) -sin(theta2) a2*cos(theta2);
sin(theta2) cos(theta2) a2*sin(theta2);
1 d2;
1];
T23 = [1 ;
1 ;
1 d3;
1];
T34 = [cos(theta4) -sin(theta4) ;
sin(theta4) cos(theta4) ;
1 ;
1];
T04 = T01 * T12 * T23 * T34;

% 逆解
x = T04(1,4);
y = T04(2,4);
theta1 = atan2(y,x);
r = sqrt(x^2 + y^2);
phi = acos((a1^2 + r^2 - a2^2)/(2*a1*r));
theta2 = pi/2 - phi - atan2(d3,r*sin(phi));
theta3 = d2 - d1 - T04(3,4);
theta4 = atan2(-T04(2,1),-T04(1,1));

% 输出结果
disp(['正解：']);
disp(T04);
disp(['逆解：']);
disp(['theta1 = ', num2str(theta1)]);
disp(['theta2 = ', num2str(theta2)]);
disp(['theta3 = ', num2str(theta3)]);
disp(['theta4 = ', num2str(theta4)]);