六轴机器人matlab写运动学正解函数（改进DH模型）
1.分两个程序①主函数②function函数
2.main
clear;
clc;
%建立机器人模型
% theta d a alpha offset
ML1=Link([0 0 0 0 0 ],'modified');
ML2=Link([0 0 0.180 -pi/2 0 ],'modified');
ML3=Link([0 0 0.600 0 0 ],'modified');
ML4=Link([0 0.630 0.130 -pi/2 0 ],'modified');
ML5=Link([0 0 0 pi/2 0 ],'modified');
ML6=Link([0 0 0 -pi/2 0 ],'modified');
modrobot=SerialLink([ML1 ML2 ML3 ML4 ML5 ML6],'name','PUMA 560');
modt06=modrobot.fkine([0,0,pi/2,0,0,pi/2]) %工具箱正解函数
modmyt06=myfkine(0,0,pi/2,0,0,pi/2) %手写的正解函数3.function
function [T06]=myfkine(theta1,theta2,theta3,theta4,theta5,theta6)
MDH=[theta1 0 0 0;
theta2 0 0.180 -pi/2;
theta3 0 0.600 0;
theta4 0.630 0.130 -pi/2;
theta5 0 0 pi/2;
theta6 0 0 -pi/2];
T01=[cos(MDH(1,1)) -sin(MDH(1,1)) 0 MDH(1,3);
cos(MDH(1,4))*sin(MDH(1,1)) cos(MDH(1,4))*cos(MDH(1,1)) -sin(MDH(1,4)) -MDH(1,2)*sin(MDH(1,4));
sin(MDH(1,4))*sin(MDH(1,1)) sin(MDH(1,4))*cos(MDH(1,1)) cos(MDH(1,4)) MDH(1,2)*cos(MDH(1,4));
0 0 0 1];
T12=[cos(MDH(2,1)) -sin(MDH(2,1)) 0 MDH(2,3);
cos(MDH(2,4))*sin(MDH(2,1)) cos(MDH(2,4))*cos(MDH(2,1)) -sin(MDH(2,4)) -MDH(2,2)*sin(MDH(2,4));
sin(MDH(2,4))*sin(MDH(2,1)) sin(MDH(2,4))*cos(MDH(2,1)) cos(MDH(2,4)) MDH(2,2)*cos(MDH(2,4));
0 0 0 1];
T23=[cos(MDH(3,1)) -sin(MDH(3,1)) 0 MDH(3,3);
cos(MDH(3,4))*sin(MDH(3,1)) cos(MDH(3,4))*cos(MDH(3,1)) -sin(MDH(3,4)) -MDH(3,2)*sin(MDH(3,4));
sin(MDH(3,4))*sin(MDH(3,1)) sin(MDH(3,4))*cos(MDH(3,1)) cos(MDH(3,4)) MDH(3,2)*cos(MDH(3,4));
0 0 0 1];
T34=[cos(MDH(4,1)) -sin(MDH(4,1)) 0 MDH(4,3);
cos(MDH(4,4))*sin(MDH(4,1)) cos(MDH(4,4))*cos(MDH(4,1)) -sin(MDH(4,4)) -MDH(4,2)*sin(MDH(4,4));
sin(MDH(4,4))*sin(MDH(4,1)) sin(MDH(4,4))*cos(MDH(4,1)) cos(MDH(4,4)) MDH(4,2)*cos(MDH(4,4));
0 0 0 1];
T45=[cos(MDH(5,1)) -sin(MDH(5,1)) 0 MDH(5,3);
cos(MDH(5,4))*sin(MDH(5,1)) cos(MDH(5,4))*cos(MDH(5,1)) -sin(MDH(5,4)) -MDH(5,2)*sin(MDH(5,4));
sin(MDH(5,4))*sin(MDH(5,1)) sin(MDH(5,4))*cos(MDH(5,1)) cos(MDH(5,4)) MDH(5,2)*cos(MDH(5,4));
0 0 0 1];
T56=[cos(MDH(6,1)) -sin(MDH(6,1)) 0 MDH(6,3);
cos(MDH(6,4))*sin(MDH(6,1)) cos(MDH(6,4))*cos(MDH(6,1)) -sin(MDH(6,4)) -MDH(6,2)*sin(MDH(6,4));
sin(MDH(6,4))*sin(MDH(6,1)) sin(MDH(6,4))*cos(MDH(6,1)) cos(MDH(6,4)) MDH(6,2)*cos(MDH(6,4));
0 0 0 1];
T06=T01*T12*T23*T34*T45*T56;
4.结果
对比robotic toolbox里fkine的结果是一致的。
PS:这个手写的函数仅适用于改进DH模型。