28 lines
1.2 KiB
Matlab
28 lines
1.2 KiB
Matlab
mdh = 1;
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if mdh==1
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% theta d a alpha offset
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L1=Link('revolute', 'd', 0, 'a', 0, 'alpha', 0, 'offset',0,'qlim',deg2rad([-20,40]),'modified');
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L2=Link('revolute', 'd', 0, 'a', 1, 'alpha', 0, 'offset',0,'qlim',deg2rad([-20,45]),'modified');
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L3=Link('revolute', 'd', 0, 'a', 1, 'alpha', 0, 'offset',0,'qlim',deg2rad([-20,45]),'modified');
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Two_bar=SerialLink([L1 L2 L3],'name','Two_bar'); %连接连杆
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Two_bar.teach();
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% Two_bar.plot([0 0])%机械臂图
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else
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% theta d a alpha offset
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L1=Link('revolute', 'd', 0, 'a', 1, 'alpha', 0, 'offset',0,'qlim',deg2rad([-20,40]),'standard');
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L2=Link('revolute', 'd', 0, 'a', 1, 'alpha', 0, 'offset',0,'qlim',deg2rad([-20,45]),'standard');
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Two_bar=SerialLink([L1 L2],'name','Two_bar'); %连接连杆
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% Two_bar.plot([0 0])%机械臂图
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Two_bar.teach();
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end
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% a = [0, -0.42500, -0.39225, 0, 0, 0];
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% d = [0.0892, 0, 0, 0.10915, 0.09465, 0.0823];
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% alpha = [1.570796327, 0, 0, 1.570796327, -1.570796327, 0];
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% for i = 1:6
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% L(i)=Link([0 d(i) a(i) alpha(i)]);
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% L(i).qlim=[-2*pi,2*pi];
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% end
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% UR5=SerialLink(L,'name','UR5');
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% UR5.teach(); |