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首先利用DH法对主臂建模代码如下：function m = MH_DH_Model() m.l_arm = 0.3000; m.l_forearm = 0.3500; m.h = 0.1347; m.method = 'Standard'; m.DH = [ % type alpha a d ...

一、Simmechanics到MALTAB官网下载simlink https://cn.mathworks.com/products/simmechanics/download_smlink.html按照步骤安装，然后在 SolidWorks 工具-插件里勾选simscape multibody link选项在工具栏可以看到simscape multibody link，选择e...

思路：1. 插入目标端点，随机产生轨迹2. 在轨迹上随机抽取若干点的位置3. 利用Robotics System Toolbox的 IK Solver4. 把 joint position 输入RigidBodyTree 并Plot出来%% Implement Target Points and Plot TrajectorywayPoints = [0.2 -0.2 0.02;0.25 0 ...

1. ObjectiveInverse Kinematics is used to get the Joint angles based on the Cartesian space position.In some situations, RCM part need to achieve some positions then mapping to the Master Hand, th...

工具：robotics toolbox -- peter corke / Simulink思路：1. 创建一个 position controller, 让 end effector 去到指定点，测出在该点时对应的 joint angles, torque；           2. 使用 toolbox 里的 gravload(q) 求出对应该点的 gravity torque；  ...