%利用matlab?robotics進行軌跡規(guī)劃有兩個函數(shù)：
%（1）jtraj，已知初始和終止的關(guān)節(jié)角度，利用五次多項式來規(guī)劃軌跡
%???[qqdqdd]?=?jtraj（q0qfm）
%（2）ctraj，已知初始和終止的末端關(guān)節(jié)位姿，利用勻加速、勻減速來規(guī)劃軌跡
%???tc?=?ctraj（T0T1n）

%%相關(guān)代碼如下：
clear;
clc;
L1=link（‘d‘0‘a(chǎn)‘0‘a(chǎn)lpha‘pi/2）;?????????????%link類函數(shù)
L2=link（‘d‘0‘a(chǎn)‘0.5‘a(chǎn)lpha‘0‘offset‘pi/2）;
L3=link（‘d‘0‘a(chǎn)‘0‘a(chǎn)lpha‘pi/2‘offset‘pi/2）;
L4=link（‘d‘1‘a(chǎn)‘0‘a(chǎn)lpha‘-pi/2）;?
L5=link（‘d‘0‘a(chǎn)‘0‘a(chǎn)lpha‘pi/2）;?
L6=link（‘d‘1‘a(chǎn)‘0‘a(chǎn)lpha‘0）;?
b=isrevolute（L1）;??????????????????????????????%link類函數(shù)，檢測關(guān)節(jié)是不是旋轉(zhuǎn)關(guān)節(jié)
robot=Seriallink（[L1L2L3L4L5L6]）;????????????????%Seriallink類函數(shù)，創(chuàng)建機器人可視化模型
%robot.name=‘帶球形腕的擬人臂‘;??????????????????????%Seriallink屬性值
robot.manuf=‘雪落梧桐‘;??????????????????????????????????????%Seriallink屬性值

init_ang=[0?0?0?0?0?0];
targ_ang=[pi/4-pi/3pi/5pi/2-pi/4pi/6];
step=80;
[qqdqdd]?=?jtraj（init_angtarg_angstep）;
subplot（32[13]）;
robot.plot（q）;

subplot（322）;
i=1:3;
plot（q（:3））;
title（‘位置‘）;
grid?on;
subplot（324）;
i=1:3;
plot（qd（:3））;
title（‘速度‘）;
grid?on;
subplot（326）;
i=1:3;
plot（qdd（:3））;
title（‘加速度‘）;
grid?on;

p1?=?[?-0.7071???-0.0000???0.7071???1.4142;
????????????0.0000???-1.0000???-0.0000??-0.0000;
????????????0.7071???0.0000????0.7071????1.9142;
??????????????????????0?????????????0??????????????0?????1.0000];
p2?=?[??0.9640???-0.2639???-0.032???0.9331;
????????????0.0979???0.2361????0.9668??1.9331;
????????????-0.2473??-0.9352???0.2534???0.8618;
???????????????????????0??????????????0?????????????0???1.0000];?
??????????????
???Tc=ctraj（p1p2step）;
???Tjtraj=transl（Tc）;?????????????????????????????????????%平移變換
???subplot（325）;
???plot2（?Tjtraj‘r‘）;
???title（‘各關(guān)節(jié)和末端軌跡‘）;
???grid?on;

?屬性????????????大小?????日期????時間???名稱
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?????文件???????1866??2018-03-12?21:12??robotics_traj_plan_test.m

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?????????????????1866????????????????????1