https://github.com/mythologyli/zjui-arm-kinematics

ZJUI 机械臂正逆运动学
https://github.com/mythologyli/zjui-arm-kinematics

kinematics mathematica robotics zju

Last synced: 15 days ago
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ZJUI 机械臂正逆运动学

• Host: GitHub
• URL: https://github.com/mythologyli/zjui-arm-kinematics
• Owner: Mythologyli
• License: gpl-3.0
• Created: 2022-05-02T07:20:26.000Z (almost 3 years ago)
• Default Branch: main
• Last Pushed: 2022-05-22T07:19:44.000Z (over 2 years ago)
• Last Synced: 2024-11-22T01:18:53.262Z (3 months ago)
• Topics: kinematics, mathematica, robotics, zju
• Language: Mathematica
• Homepage: https://myth.cx/p/zjui-arm-kinematics
• Size: 22.5 KB
• Stars: 5
• Watchers: 1
• Forks: 2
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# ZJUI 机械臂运动学

详细内容请查看这篇[文章](https://myth.cx/p/zjui-arm-kinematics)

## ZJUI 机械臂说明

ZJUI 机械臂的 DH 参数如下：

| α    | a     | d      | θ                  |

| ---- | ----- | ------ | ------------------ |

| 0    | 0     | 0.23   | θ1      |

| -π/2 | 0     | -0.054 | -π/2+θ2 |

| 0    | 0.185 | 0      | θ3      |

| 0    | 0.17  | 0.077  | π/2+θ4  |

| π/2  | 0     | 0.077  | π/2+θ5  |

| π/2  | 0     | 0.0855 | θ6      |

变换矩阵：

![](https://latex.codecogs.com/svg.image?%5Cleft%5B%20%7B%5Cbegin%7Barray%7D%7B*%7B20%7D%7Bc%7D%7D%7B%20-%20%7Bc_6%7D(%7Bc_5%7D%7Bs_1%7D%20+%20%7Bc_1%7D%7Bc_%7B234%7D%7D%7Bs_5%7D)%20+%20%7Bc_1%7D%7Bs_%7B234%7D%7D%7Bs_6%7D%7D&%7B%7Bc_5%7D%7Bs_1%7D%7Bs_6%7D%20+%20%7Bc_1%7D(%7Bc_6%7D%7Bs_%7B234%7D%7D%20+%20%7Bc_%7B234%7D%7D%7Bs_5%7D%7Bs_6%7D)%7D&%7B%7Bc_1%7D%7Bc_%7B234%7D%7D%7Bc_5%7D%20-%20%7Bs_1%7D%7Bs_5%7D%7D&%7B%7Bc_1%7D(0.0855%7Bc_%7B234%7D%7D%7Bc_5%7D%20+%200.185%7Bs_2%7D%20+%200.17%7Bs_%7B23%7D%7D%20+%200.077%7Bs_%7B234%7D%7D)%20+%20%7Bs_1%7D(%20-%200.023%20-%200.0855%7Bs_5%7D)%7D%5C%5C%7B%7Bc_1%7D%7Bc_5%7D%7Bc_6%7D%20+%20%7Bs_1%7D(%20-%20%7Bc_%7B234%7D%7D%7Bc_6%7D%7Bs_5%7D%20+%20%7Bs_%7B234%7D%7D%7Bs_6%7D)%7D&%7B%7Bc_6%7D%7Bs_1%7D%7Bs_%7B234%7D%7D%20+%20(%20-%20%7Bc_1%7D%7Bc_5%7D%20+%20%7Bc_%7B234%7D%7D%7Bs_1%7D%7Bs_5%7D)%7Bs_6%7D%7D&%7B%7Bc_%7B234%7D%7D%7Bc_5%7D%7Bs_1%7D%20+%20%7Bc_1%7D%7Bs_5%7D%7D&%7B%7Bs_1%7D(0.0855%7Bc_%7B234%7D%7D%7Bc_5%7D%20+%200.185%7Bs_2%7D%20+%200.17%7Bs_%7B23%7D%7D%20+%200.077%7Bs_%7B234%7D%7D)%20+%20%7Bc_1%7D(0.023%20+%200.0855%7Bs_5%7D)%7D%5C%5C%7B%7Bc_6%7D%7Bs_%7B234%7D%7D%7Bs_5%7D%20+%20%7Bc_%7B234%7D%7D%7Bs_6%7D%7D&%7B%7Bc_%7B234%7D%7D%7Bc_6%7D%20-%20%7Bs_%7B234%7D%7D%7Bs_5%7D%7Bs_6%7D%7D&%7B%20-%20%7Bc_5%7D%7Bs_%7B234%7D%7D%7D&%7B0.23%20+%200.185%7Bc_2%7D%20+%200.17%7Bc_%7B23%7D%7D%20+%200.077%7Bc_%7B234%7D%7D%20-%200.0855%7Bc_5%7D%7Bs_%7B234%7D%7D%7D%5C%5C0&0&0&1%5Cend%7Barray%7D%7D%20%5Cright%5D%5C)

## 程序说明

zjui.wl 包中有两个常用函数：

+ ForwardKinematicsZJU

  

  正运动学计算，输入关节角，得到末端空间位置和 XYZ 欧拉角

+ BackwardKinematicsZJU

  逆运动学计算，输入末端空间位置和 XYZ 欧拉角，得到 6 个关节角

具体使用可参考 demo.nb 笔记本

## 贡献者

+ [Myth](https://github.com/Mythologyli)

+ [DX3906G](https://github.com/DX3906G)