苏凯的博客

clear,clc,close all; %建立机器人DH参数，初始状态为竖直状态 L1=Link('d',144,'a',0,'alpha',0,'modified'); L2=Link('d',0,'a',0,'alpha',pi/2,'offset',-pi/2,'modified'); L3=Link('d',0,'a',-264,'alpha',0,'modified'); L4=Link('d',106,'a',-236,'a...