机器人逆运动学(共10页).docx

精选优质文档-倾情为你奉上clear;clc;L1 = Link(d, 0, a, 0, alpha, pi/2); %Link 类函数L2 = Link(d, 0, a, 0.5, alpha, 0,offset,pi/2);L3 = Link(d, 0, a, 0, alpha, pi/2,offset,pi/4);L4 = Link(d, 1, a, 0, alpha, -pi/2);L5 = Link(d, 0, a, 0, alpha, pi/2);L6 = Link(d, 1, a, 0, alpha, 0);b=isrevolute(L1); %Link 类函数robot=SerialLink(L1,L2,L3,L4,L5,L6); %SerialLink 类函数robot.name=带球形腕的拟人臂; %SerialLink 属性值robot.manuf=飘零过客; %SerialLink 属性值