ZJUI 机械臂正逆运动学
Home Page: https://myth.cx/p/zjui-arm-kinematics
License: GNU General Public License v3.0
详细内容请查看这篇文章
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：
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
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