資源簡介
用matlab仿真機器人動作,實現招財貓等動作,不考慮重力影響。
代碼片段和文件信息
clc;
clear;
a?=?????[0?????????-0.42500???-0.39225???0??????????0??????????0];
alpha?=?[pi/2??????0??????????0??????????pi/2???????-pi/2??????0];
d?=?????[0.089459??0??????????0??????????0.10915????0.09465????0.0823];
mass?=??[3.7000????8.3930?????2.33???????1.2190?????1.2190?????0.1897];
center_of_mass?=?[[0-0.02561?0.00193]?[0.2125?0?0.11336]?[0.15?0?0.0265]?[0?-0.0018?0.01634]?[0?-0.0018?0.01634]?[0?0?-0.001159]];
theta?=?[-0.5452???-1.1561????1.6150???-2.4635???-0.6130???-1.1233]
%?????????????th????d???????a????alpha??
L1?=?link([-0.5452??0.089459?0?pi/2?]‘standard‘);
L2?=?link([-1.1561??0??-0.4250?0?
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