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clear;clc;
8 N' N' A* u" S+ x3 t6 S' B4 mclose all;, H [/ Z% F: a$ \2 W8 o. e
x1=-pi/2; a1=121.16; d1=191.99;
$ o+ g% e6 e2 W+ F0 `/ Jx2=0; a2=850.94; th2=82.19*pi/180;1 A4 P0 F8 e1 d5 R) S
x3=0; a3=482.6;
) G% o+ n1 \5 O7 D# D9 w+ v% o6 {: h) kx4=pi/2; a4=133.35;
, z% i3 Z0 [$ J/ I' M3 g+ cx5=-pi/2; a5=0; th5=pi/2;1 I; i; E, H: v% H
x6=0; d6=380.9;
5 {- }% Y2 S! a3 fL(1)=Link([0 d1 a1 x1]); L(1).qlim=[-pi,pi];
6 F9 u% C, i1 [4 r5 sL(2)=Link([0 0 a2 x2]); L(2).qlim=[-pi/6,pi/2];6 \9 O- [- y1 |$ A; F2 q
L(3)=Link([0 0 a3 x3]); L(3).qlim=[-pi/2,pi/2];
. y2 \- r3 d; W! BL(4)=Link([0 0 a4 x4]); L(4).qlim=[-pi/2,pi/2];) f' p' Z" z9 O+ U6 _3 I
L(5)=Link([0 0 a5 x5]); L(5).qlim=[-pi/2,pi/2];6 t3 i1 n a( f# G
L(6)=Link([0 d6 0 x6]); L(6).qlim=[-pi,pi];
2 M2 R& x: d/ C* c* irobot6=SerialLink(L,'name','robot6','offset',[0 -th2 th2 0 -th5 0]);
8 i) W4 \0 _7 B+ v# g5 ~%% 轨迹规划-圆
+ V6 W2 J: e5 z Q. b) ?' iTh=0:pi/60:2*pi;R=400;
# |" r" u% X; n9 T6 c( g! Ufor I=1:length(Th)4 _7 t- L0 I) v$ Y/ k9 H
j=1:length(Th);
) H( _) }# g5 z- M9 Qx(1,j)=1500;' R0 Z* Y/ Z1 G' V
y(1,j)=R*sin(Th);/ L5 o8 } E+ J4 a: q5 |4 H
z(1,j)=0+R*cos(Th);% S9 Q% p2 ^2 D$ R6 A7 V
end, v' e4 s/ }: T) }5 |: z* j2 a
for ko=1:length(Th)* t) z# O( V9 _3 q* v: V! m
TTr=[x(ko),y(ko),z(ko)];
5 i2 I8 V6 ^3 s0 b) R* lTO(:,:,ko)=transl(TTr)*trotz(-90,'deg')*troty(0,'deg')*trotx(-90,'deg');
- B' U# {; |# ?) q7 K) ^: \4 Lend
! c; c, J2 T* q! A% P6 oqz=ikine(robot6,TO,'pinv');
0 ^( P3 V. ^3 eplot3(x,y,z,'r','LineWidth',2);4 e$ r# G @7 }) h3 D% m3 h
hold on;6 @, S( X; N+ [* p9 @4 E3 ]7 C% P; d
plot(robot6,qz,'loop');
# E d( Y V/ I9 |" O1 chold off; |
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发表于 2020-9-25 11:06
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