%PUMA560機(jī)器人，手動(dòng)計(jì)算
%輸入角度10-60，計(jì)算T06
%長度參數(shù)?20?5?5?30

DRG?=?pi/180;

a2?=?20;?a3?=?5;?
d3?=?5;?d4?=?30;
th1?=?10*DRG;th2?=?20*DRG;th3?=?30*DRG;
th4?=?40*DRG;th5?=?50*DRG;th6?=?60*DRG;

T01?=?D_H（000th1）;
T12?=?D_H（-pi/200th2）;
T23?=?D_H（0a2d3th3）;
T34?=?D_H（-pi/2a3d4th4）;
T45?=?D_H（pi/200th5）;
T56?=?D_H（-pi/200th6）;

T06?=?T01*T12*T23*T34*T45*T56

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-05-17?13:44??逆解\
?????文件?????????400??2017-07-25?19:31??逆解\PM5601.m
?????文件????????7414??2017-07-25?21:32??逆解\PM5603.m
?????文件????????7230??2017-07-25?21:37??逆解\PUMA_INV.m
?????文件?????4288554??2019-04-16?10:00??逆解\六自由度工業(yè)機(jī)器人運(yùn)動(dòng)學(xué)算法的研究與應(yīng)用.caj
?????文件?????1787506??2019-04-15?17:35??逆解\六自由度機(jī)械手運(yùn)動(dòng)學(xué)與運(yùn)動(dòng)規(guī)劃研究.caj