博客

% [q,qd,qdd] = jtraj(q0,qf,m); %利用五次多项式规划轨迹

% tc = ctraj(T0,T1,n);         %利用匀加速匀减速规划轨迹

%机器人建模

L1 = Link(‘d’,0,’a’,0,’alpha’,pi/2);

L2 = Link(‘d’,0,’a’,0.5,’alpha’,0,’offset’,pi/2);

L3 = Link(‘d’,0,’a’,0,’alpha’,pi/2,’offset’,pi/4);

L4 = Link(‘d’,1,’a’,0,’alpha’,-pi/2);

L5 = Link(‘d’,0,’a’,0,’alpha’,pi/2);

L6 = Link(‘d’,1,’a’,0,’alpha’,0);

%机器人搭建与命名

robot = SerialLink([L1,L2,L3,L4,L5,L6]);

robot.name = ‘球形腕关节的拟人臂’;

robot.manuf = ‘qiangbaa’;

%******************%

%      jtraj       %

%******************%

%轨迹规划参数设置

init_ang = [0 0 0 0 0 0];

targ_ang = [pi/4, -pi/3, pi/5,