运动正解与逆解 matlab的编程

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1、%¾ØÕóÖвÎÊý¶¨Ò壺symstheta1theta2theta3theta4theta5theta6symsdhl2l3l4b1b2b3b4b5b6%¸÷Æë´Î±ä»»¾ØÕó£ºb1=[cos(theta1)0-sin(theta1)0;sin(theta1)0cos(theta1)0;0-10h;0001]b1=[cos(theta1),0,-sin(theta1),0][sin(theta1),0,cos(theta1),0][0,-1,0,h][0,0,0,1]>>b2=[cos(theta2)0sin(theta2)l2*cos(theta

2、2);sin(theta2)0-cos(theta2)l2*sin(theta2);0100;0001]b2=[cos(theta2),0,sin(theta2),l2*cos(theta2)][sin(theta2),0,-cos(theta2),l2*sin(theta2)][0,1,0,0][0,0,0,1]>>b3=[cos(theta3)0-sin(theta3)l3*cos(theta3);sin(theta3)0cos(theta3)l3*sin(theta3);0-100;0001]b3=[cos(theta3),0,-sin(theta3),l3*

3、cos(theta3)][sin(theta3),0,cos(theta3),l3*sin(theta3)][0,-1,0,0][0,0,0,1]>>b4=[cos(theta4)0sin(theta4)l4*cos(theta4);sin(theta4)0-cos(theta4)l4*sin(theta4);0100;0001]b4=[cos(theta4),0,sin(theta4),l4*cos(theta4)][sin(theta4),0,-cos(theta4),l4*sin(theta4)][0,1,0,0][0,0,0,1]>>b5=[cos(thet

4、a5)0-sin(theta5)0;sin(theta5)0cos(theta5)0;0-100;0001]b5=[cos(theta5),0,-sin(theta5),0][sin(theta5),0,cos(theta5),0][0,-1,0,0][0,0,0,1]>>b6=[cos(theta6)-sin(theta6)00;sin(theta6)cos(theta6)00;001d;0001]b6=[cos(theta6),-sin(theta6),0,0][sin(theta6),cos(theta6),0,0][0,0,1,d][0,0,0,1]%»úÐ

5、µÊÖÔ˶¯Ñ§Õý½â£º>>b1*b2*b3*b4*b5*b6ans=[sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3)-cos(theta1)*cos(theta2)*cos(theta3))-cos(theta1)*cos(theta4)*sin(theta2))-cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3)-cos(theta1)*cos(theta2)*cos(theta3))+cos(theta1)*sin(theta2)

6、*sin(theta4))+sin(theta5)*(cos(theta3)*sin(theta1)+cos(theta1)*cos(theta2)*sin(theta3))),cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3)-cos(theta1)*cos(theta2)*cos(theta3))-cos(theta1)*cos(theta4)*sin(theta2))+sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3)-cos(theta1

7、)*cos(theta2)*cos(theta3))+cos(theta1)*sin(theta2)*sin(theta4))+sin(theta5)*(cos(theta3)*sin(theta1)+cos(theta1)*cos(theta2)*sin(theta3))),sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3)-cos(theta1)*cos(theta2)*cos(theta3))+cos(theta1)*sin(theta2)*sin(theta4))-cos(theta5)*(cos(thet