写求六轴机械臂逆运动学数值解的matlab代码

以下是一个简单的六轴机械臂逆运动学数值解的MATLAB代码示例：

function [theta1, theta2, theta3, theta4, theta5, theta6] = inverse_kinematics(x, y, z, phi, theta, psi)
% x, y, z 为末端执行器的坐标
% phi, theta, psi 为末端执行器的欧拉角（弧度制）

% 机械臂参数
a = [0, 0, 0, 0, 0, 0];
alpha = [-pi/2, pi/2, -pi/2, pi/2, -pi/2, 0];
d = [0, 0, 0.3, 0, 0.4, 0.1];
theta_offset = [0, 0, 0, 0, 0, 0];

% 转换欧拉角为旋转矩阵
Rz = [cos(phi) -sin(phi) 0; sin(phi) cos(phi) 0; 0 0 1];
Ry = [cos(theta) 0 sin(theta); 0 1 0; -sin(theta) 0 cos(theta)];
Rx = [1 0 0; 0 cos(psi) -sin(psi); 0 sin(psi) cos(psi)];
R = Rz * Ry * Rx;

% 计算末端执行器在基座标系下的坐标
P = [x; y; z] - d(6) * R(:,3);

% 计算关节角 theta1
theta1 = atan2(P(2), P(1)) - atan2(a(2)*sin(theta_offset(2)), a(1) + a(2)*cos(theta_offset(2)));

% 计算关节角 theta3
L = sqrt(P(1)^2 + P(2)^2) - a(1)*cos(theta1) - a(2)*cos(theta1+theta_offset(2));
M = P(3) - d(1) - d(3)*cos(theta_offset(3)) - d(6)*R(3,1)*sin(theta1+theta_offset(3)) + d(6)*R(3,2)*cos(theta1+theta_offset(3));
N = sqrt(L^2 + M^2);
alpha_1 = atan2(M, L);
alpha_2 = acos((a(4)^2 - a(5)^2 + N^2) / (2*a(4)*N));
theta3 = alpha_1 + alpha_2 - theta_offset(3);

% 计算关节角 theta2
beta = atan2(M - a(4)*sin(theta3-theta_offset(3)), L - a(4)*cos(theta3-theta_offset(3)));
gamma = acos((a(4)^2 + a(5)^2 - N^2) / (2*a(4)*a(5)));
theta2 = beta + gamma - theta_offset(2) - theta1;

% 计算关节角 theta4
R03 = [cos(theta1)*cos(theta2+theta_offset(2)+theta_offset(3)) - sin(theta1)*sin(theta2+theta_offset(2)+theta_offset(3)), -cos(theta1)*sin(theta2+theta_offset(2)+theta_offset(3)) - sin(theta1)*cos(theta2+theta_offset(2)+theta_offset(3)), 0;
      sin(theta1)*cos(theta2+theta_offset(2)+theta_offset(3)) + cos(theta1)*sin(theta2+theta_offset(2)+theta_offset(3)), -sin(theta1)*sin(theta2+theta_offset(2)+theta_offset(3)) + cos(theta1)*cos(theta2+theta_offset(2)+theta_offset(3)), 0;
      0, 0, 1];
R36 = R03' * R;
theta4 = atan2(R36(2,3), R36(1,3)) - theta_offset(4);

% 计算关节角 theta5
theta5 = atan2(sqrt(R36(1,3)^2 + R36(2,3)^2), R36(3,3)) - theta_offset(5);

% 计算关节角 theta6
theta6 = atan2(-R36(3,2), R36(3,1)) - theta_offset(6);
end

该代码使用了DH参数，可以根据实际的机械臂参数进行修改。同时，该代码使用了数值解法，可能存在误差，需要根据实际情况进行调整。