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clear;clc;6 g3 x0 Z8 Y9 z4 o, W3 W
close all;
4 I7 d) l2 a( D `x1=-pi/2; a1=121.16; d1=191.99;
" }) v9 {& k$ r2 z% J/ q2 px2=0; a2=850.94; th2=82.19*pi/180;' e5 S( |0 f8 U) P
x3=0; a3=482.6;& W2 \& @$ M( C2 ?; m7 j
x4=pi/2; a4=133.35;2 l8 F3 F; H1 |
x5=-pi/2; a5=0; th5=pi/2;$ L. h" G. H$ {- O1 ?; h
x6=0; d6=380.9;
, K; |9 W5 f. ], H8 pL(1)=Link([0 d1 a1 x1]); L(1).qlim=[-pi,pi];
: ~( D, m: R5 w) Z) p8 ]L(2)=Link([0 0 a2 x2]); L(2).qlim=[-pi/6,pi/2];
" U- c: q3 ^+ _# u- }! T; P# KL(3)=Link([0 0 a3 x3]); L(3).qlim=[-pi/2,pi/2];0 B* M0 Z& T- f; H- g; |( L
L(4)=Link([0 0 a4 x4]); L(4).qlim=[-pi/2,pi/2];
: A! _, G8 g3 _6 pL(5)=Link([0 0 a5 x5]); L(5).qlim=[-pi/2,pi/2];+ b$ k' p1 z9 e5 O# k
L(6)=Link([0 d6 0 x6]); L(6).qlim=[-pi,pi];) R; v* _6 F9 ]0 ~
robot6=SerialLink(L,'name','robot6','offset',[0 -th2 th2 0 -th5 0]);
* f; R0 _/ D9 t& E4 c+ J9 @& t$ |%% 轨迹规划-圆$ N' D, L# ] R* f ^8 }. Z1 W
Th=0:pi/60:2*pi;R=400;
& x7 ]7 Y- s% _for I=1:length(Th)
' N" K* K" S+ \j=1:length(Th);
$ c5 Q2 z3 S4 L1 k- W. K; T0 Zx(1,j)=1500;
. M9 p8 n& d3 g1 J+ G& _y(1,j)=R*sin(Th);
/ w$ k$ g9 w+ I5 N4 ~. O, ez(1,j)=0+R*cos(Th);4 r& w3 p9 u9 y3 C* d
end
* B8 p" e3 @9 Y h% S9 Gfor ko=1:length(Th)
' y) f1 C5 N& eTTr=[x(ko),y(ko),z(ko)];+ G: t7 ?0 u% R
TO(:,:,ko)=transl(TTr)*trotz(-90,'deg')*troty(0,'deg')*trotx(-90,'deg');* }0 o. w% H5 @/ H, n' m
end2 E) Y4 M1 c6 L. e
qz=ikine(robot6,TO,'pinv');2 x; I: b( Y+ u. W) i; R6 J2 w
plot3(x,y,z,'r','LineWidth',2);
( U; h. d' A+ q% Shold on;
: T' m w7 t- ?( Yplot(robot6,qz,'loop');
3 _7 W; ]' g" x, m5 Chold off; |
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发表于 2020-9-25 11:06
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