%?該程序簡單說明串聯(lián)機(jī)器人的一種用DH方法建立運(yùn)動學(xué)模型的編程方式?
%?以6自由度機(jī)器人正逆運(yùn)動學(xué)示例，PUMA560
%?該DH參數(shù)表以前置坐標(biāo)系建模方法得到
%?建模方法可參考?蔡自興?教授的?《機(jī)器人學(xué)》
%??CraigJ.J?《機(jī)器人學(xué)導(dǎo)論?（原書第3版》?p53?為后置坐標(biāo)系
%?僅供參考，有誤見諒。?~@ai_uni_sworm?

%??。。∽⒁庠揇H參數(shù)表的輸入順序和機(jī)器人工具箱不同?。?！
%?參看?toolbox_test?程序

%?????alfa????a??????????????d???????????theta?
dh=[?pi/2?????0??????????????0???????????????0;
???????0??????0.4318?????????0????????????pi/4;
?????-pi/2????0.0203?????????0.15005????????pi;
??????pi/2????0??????????????0.4318??????????0;
?????-pi/2????0??????????????0????????????pi/4;
???????0??????0??????????????0???????????????0;
];
dhtemp=dh;??%?另存一個相同dh參數(shù)表
puma560_forward_kinematic=fkdh6（dh2）?%?正運(yùn)動學(xué)
inv_kinematic?=?pumainvk（puma560_forward_kinematic11-1）?%?逆運(yùn)動學(xué)

%?從求逆運(yùn)動學(xué)所得角度計算正運(yùn)動學(xué)
for?i=1:1:6
????dhtemp（i4）=inv_kinematic（1i）;
end
forward_test_from_inv=fkdh6（dhtemp2）?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-10-21?08:33??robot_study_example\
?????文件????????1019??2017-10-20?22:48??robot_study_example\first_test.m
?????文件?????????779??2017-10-20?22:36??robot_study_example\fkdh6.m
?????文件????????2225??2017-10-21?08:37??robot_study_example\pumainvk.m
?????文件?????????239??2017-10-20?23:05??robot_study_example\rox.m
?????文件?????????238??2017-10-20?23:05??robot_study_example\roy.m
?????文件?????????221??2017-10-20?23:05??robot_study_example\roz.m
?????文件????????1976??2017-10-21?09:36??robot_study_example\toolbox_test.m
?????文件?????????171??2017-10-20?22:37??robot_study_example\trdh.m
?????文件?????????251??2017-10-20?17:55??robot_study_example\trdh2.m
?????文件?????????183??2017-10-20?23:05??robot_study_example\trlx.m
?????文件?????????183??2017-10-20?23:06??robot_study_example\trly.m
?????文件?????????184??2017-10-20?23:06??robot_study_example\trlz.m
?????文件????????1059??2017-10-21?07:56??robot_study_example\請閱讀.txt