matlab代码实现了一个关节型六轴机械臂的仿真

%% 基于MATLAB的关节型六轴机械臂仿真
 
%% 参数定义
clear;
close all;
clc;
 
%角度转换
angle=pi/180;  %转化为角度制
 
%D-H参数表
theta1 = 0;   D1 = 0.4;   A1 = 0.025; alpha1 = pi/2; offset1 = 0;
theta2 = pi/2;D2 = 0;     A2 = 0.56;  alpha2 = 0;    offset2 = 0;
theta3 = 0;   D3 = 0;     A3 = 0.035; alpha3 = pi/2; offset3 = 0;
theta4 = 0;   D4 = 0.515; A4 = 0;     alpha4 = pi/2; offset4 = 0;
theta5 = pi;  D5 = 0;     A5 = 0;     alpha5 = pi/2; offset5 = 0;
theta6 = 0;   D6 = 0.08;  A6 = 0;     alpha6 = 0;    offset6 = 0;
 
%% DH法建立模型,关节转角，关节距离，连杆长度，连杆转角，关节类型（0转动，1移动），'standard'：建立标准型D-H参数
L(1) = Link([theta1, D1, A1, alpha1, offset1], 'standard')
L(2) = Link([theta2, D2, A2, alpha2, offset2], 'standard')
L(3) = Link([theta3, D3, A3, alpha3, offset3], 'standard')
L(4) = Link([theta4, D4, A4, alpha4, offset4], 'standard')
L(5) = Link([theta5, D5, A5, alpha5, offset5], 'standard')
L(6) = Link([theta6, D6, A6, alpha6, offset6], 'standard')
 
% 定义关节范围
L(1).qlim =[-180*angle, 180*angle];
L(2).qlim =[-180*angle, 180*angle];
L(3).qlim =[-180*angle, 180*angle];
L(4).qlim =[-180*angle, 180*angle];
L(5).qlim =[-180*angle, 180*angle];
L(6).qlim =[-180*angle, 180*angle];
zlim([-2,2]);
hold on;
robot2=SerialLink([L(1),L(2),L(3),L(4),L(5),L(6)],"base",transl(0,-1,0));
robot2.plot([0,0,0,0,0,0]);  
%% 显示机械臂（把上述连杆“串起来”）
robot0 = SerialLink(L,'name','six');
theta = [0 pi/2 0 0 pi 0];				%初始关节角度
figure(1)
robot0.plot(theta);
title('双臂机械人');

robot0 = SerialLink(L,'name','six');
T1=transl(0.5,0,0);						%根据给定起始点，得到起始点位姿
T2=transl(0,0.5,0);						%根据给定终止点，得到终止点位姿
init_ang=robot0.ikine(T1);				%根据起始点位姿，得到起始点关节角
targ_ang=robot0.ikine(T2);				%根据终止点位姿，得到终止点关节角
step = 15;
%% 显示机械臂（把上述连杆“串起来”）
robot0 = SerialLink(L,'name','six');
theta = [0 pi/2 0 0 pi 0];				%初始关节角度
figure(1)
robot0.plot(theta);
title('双臂机械人');
robot0 = SerialLink(L,'name','six');
%%
T1=transl(0.5,-1,0.5);						%根据给定起始点，得到起始点位姿
T2=transl(0.5,-0.9,0.6);						%根据给定终止点，得到终止点位姿
init_ang=robot2.ikine(T1);				%根据起始点位姿，得到起始点关节角
targ_ang=robot2.ikine(T2)