Matlab 机器人工具箱 例程：运动学+动力学+路径规划+可视化

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1 创建机器人

clc;clear;close all;
deg = pi/180;L1= Revolute('d', 0, 'a', 0, 'alpha', 0,'modified', ...'I', [0.1183 -0.0001 0.0001;-0.0001 0.1182 0.0001;0.0001 0.0001 0.0140], ...'r', [0.0002 0.0002 0.1264], ...'m', 5.6431, ...'Jm', 2.2e-4, ...'G', 81, ...'B', 1.48e-3, ...'Tc', [0.395 -0.435], ...'qlim', [-180 180]*deg );L2 = Revolute('d', 0.06, 'a', 0, 'alpha', -pi/2,'modified', ...'I', [0.0723,0.0000,-0.0051;0.0000,0.0784,0.0000;-0.0051,0.0000,0.0169;], ...'r', [-0.0062,0.0001,0.1080], ...'m', 5.0478, ...'Jm', 2.2e-4, ...'G', 121, ...'B', .817e-3, ...'Tc', [0.126 -0.071], ...'qlim', [-105 105]*deg );
L3 = Revolute('d', -0.004, 'a', 0.332, 'alpha', 0, 'modified', ...'I', [0.4263,0.0000,-0.0072;0.0000,0.4334,0.0001;-0.0072,0.0001,0.0191], ...'r', [-0.0131,0.0001,0.2402], ...'m', 5.7542, ...'Jm', 2.2e-4, ...'G', 81, ...'B', 1.38e-3, ...'Tc', [0.132, -0.105], ...'qlim', [-225 45]*deg );L4 = Revolute('d', -0.056, 'a', 0, 'alpha', pi/2, 'modified', ...'I', [0.0821,0.0000,-0.0314

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