机器人逆运动学.pdfVIP

clear; clc; L1 = Link(d, 0, a, 0, alpha, pi/2); %Link 类函数 L2 = Link(d, 0, a, 0.5, alpha, 0,offset,pi/2); L3 = Link(d, 0, a, 0, alpha, pi/2,offset,pi/4); L4 = Link(d, 1, a, 0, alpha, -pi/2); L5 = Link(d, 0, a, 0, alpha, pi/2); L6 = Lin