六轴机器人运动学逆解代码

以下是一个基于MATLAB编写的六轴机器人运动学逆解代码，供您参考：

% 六轴机器人运动学逆解代码
% 假设机器人的DH参数如下所示
a = [0, 650, 0, 0, 0, 0];
alpha = [-pi/2, 0, pi/2, -pi/2, pi/2, 0];
d = [400, 0, 0, 700, 0, 150];
theta = [0, 0, 0, 0, 0, 0];

% 假设目标末端执行器位姿如下
p = [600, 300, 800];
R = [0, 0, 1; 0, 1, 0; -1, 0, 0];
T = [R, p'; 0, 0, 0, 1];

% 进行运动学正解
T06 = FK_6R(a, alpha, d, theta);

% 进行运动学逆解
q = IK_6R(a, alpha, d, T);

% 输出逆解结果
disp(q);

% 6R机器人运动学正解函数
function T06 = FK_6R(a, alpha, d, theta)
T01 = DH(a(1), alpha(1), d(1), theta(1));
T12 = DH(a(2), alpha(2), d(2), theta(2));
T23 = DH(a(3), alpha(3), d(3), theta(3));
T34 = DH(a(4), alpha(4), d(4), theta(4));
T45 = DH(a(5), alpha(5), d(5), theta(5));
T56 = DH(a(6), alpha(6), d(6), theta(6));
T06 = T01*T12*T23*T34*T45*T56;
end

% DH参数转换矩阵函数
function T = DH(a, alpha, d, theta)
T = [cos(theta), -sin(theta)*cos(alpha), sin(theta)*sin(alpha), a*cos(theta);
sin(theta), cos(theta)*cos(alpha), -cos(theta)*sin(alpha), a*sin(theta);
0, sin(alpha), cos(alpha), d;
0, 0, 0, 1];
end

% 6R机器人运动学逆解函数
function q = IK_6R(a, alpha, d, T)
p = T(1:3,4);
R = T(1:3,1:3);

% 进行末端执行器位姿的逆解计算
p_ = p - a(6)*R*[0;0;1];
theta1 = atan2(p_(2), p_(1));
d4 = d(4);
a2 = a(2);
a3 = a(3);
p_ = sqrt(p_(1)^2+p_(2)^2);
q1 = atan2(p_(3)-d(1), p_) - atan2(sqrt(1-(a2^2+d4^2)/(p_^2-d(1)^2)), (a2+d4)^2/(p_^2-d(1)^2)-(a2^2+d4^2)/(p_^2-d(1)^2));
q5 = atan2(sqrt(