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clear;clc;( z* v4 R* C5 h6 }" e# B; k
close all;
5 L7 b" H& }5 _4 Q2 S$ s. {- ix1=-pi/2; a1=121.16; d1=191.99;
{6 s& f/ h0 U+ r6 sx2=0; a2=850.94; th2=82.19*pi/180;% a+ [) C' H9 c- p; _
x3=0; a3=482.6;
: G% q+ r8 S/ i u( B8 V. Px4=pi/2; a4=133.35;
( S6 {" [4 ^3 l8 g, R" ^2 {x5=-pi/2; a5=0; th5=pi/2;
2 S$ T! o* n# ~x6=0; d6=380.9;8 O# @" l) ~* j1 x: o- u
L(1)=Link([0 d1 a1 x1]); L(1).qlim=[-pi,pi];
" O) i; g" D, p2 T7 xL(2)=Link([0 0 a2 x2]); L(2).qlim=[-pi/6,pi/2];1 j: F3 j1 N4 S A
L(3)=Link([0 0 a3 x3]); L(3).qlim=[-pi/2,pi/2];
- }# P- ~) @) R' c$ HL(4)=Link([0 0 a4 x4]); L(4).qlim=[-pi/2,pi/2];
4 H! k& f/ i8 h( pL(5)=Link([0 0 a5 x5]); L(5).qlim=[-pi/2,pi/2];% X7 N. d7 y9 c( G8 S
L(6)=Link([0 d6 0 x6]); L(6).qlim=[-pi,pi];
0 Q- [; b$ q Hrobot6=SerialLink(L,'name','robot6','offset',[0 -th2 th2 0 -th5 0]);
s9 @9 v8 Z9 M%% 轨迹规划-圆2 H5 j7 M, W/ a% G
Th=0:pi/60:2*pi;R=400;+ S5 l8 z8 }; v. ]9 J; @. A
for I=1:length(Th)! D* T9 Y0 j- S, t5 X/ e% o
j=1:length(Th);! L5 p+ o3 a- `7 Q1 y
x(1,j)=1500;/ m; T! b/ L% ^( b7 l& K2 T: K" x
y(1,j)=R*sin(Th);
" `" E7 q/ K& ~" m, Pz(1,j)=0+R*cos(Th);
s5 B, w. U' tend
1 y. G6 q/ ~$ y7 r. P' cfor ko=1:length(Th)3 b0 u+ P$ q$ \8 I9 X6 H' }+ d, W
TTr=[x(ko),y(ko),z(ko)];
$ N2 W8 c: W* ^3 E: W+ C) ~. [4 y- GTO(:,:,ko)=transl(TTr)*trotz(-90,'deg')*troty(0,'deg')*trotx(-90,'deg');
H$ M( x5 J+ p$ Z& Jend
' _8 O3 Z+ L6 T9 P9 fqz=ikine(robot6,TO,'pinv');
* H- d" K3 i5 a; vplot3(x,y,z,'r','LineWidth',2);
/ _# m* u, p1 H3 ahold on;* V1 j! `4 `% t) K! S
plot(robot6,qz,'loop');
% L* y( r# N4 I* b9 Yhold off; |
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发表于 2020-9-25 11:06
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