f-frhs / puma Goto Github PK
View Code? Open in Web Editor NEWThis project is a practice to handle a simple robot manipulator.
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回転行列Rからq4,q5,q6を計算する
zyzオイラー角から回転行列Rを計算する
thetaを受け取り、関節位置を計算する
まずは簡単な順**学から。
コミット b5368e7 のコードで、下のグラフを得ました。
同色の折れ線は、PUMA型マニピュレーターの位置を示します。
リンク4が斜めに描画されているのは、リンク3側の関節部とリンク5側の関節部とを直線で結んだからです。
なお、リンク４は 以下の性質を持っています:
- a4 != 0
- α4 = -90° != 0°
- d4 != 0
逆ヤコビ行列を使って数値解を得る
回転行列Rからzyzオイラー角を計算する
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