1、%syms theta1 theta2 theta3 theta4 theta5 theta6syms d h l2 l3 l4 b1 b2 b3 b4 b5 b6%b1=cos(theta1) 0 -sin(theta1) 0;sin(theta1) 0 cos(theta1) 0;0 -1 0 h;0 0 0 1b1 = cos(theta1), 0, -sin(theta1), 0 sin(theta1), 0, cos(theta1), 0 0, -1, 0, h 0, 0, 0, 1 b2=cos(theta2) 0 sin(theta2) l2*cos(theta2);sin(th
2、eta2) 0 -cos(theta2) l2*sin(theta2);0 1 0 0;0 0 0 1b2 = cos(theta2), 0, sin(theta2), l2*cos(theta2) sin(theta2), 0, -cos(theta2), l2*sin(theta2) 0, 1, 0, 0 0, 0, 0, 1 b3=cos(theta3) 0 -sin(theta3) l3*cos(theta3);sin(theta3) 0 cos(theta3) l3*sin(theta3);0 -1 0 0;0 0 0 1b3 = cos(theta3), 0, -sin(theta
3、3), l3*cos(theta3) sin(theta3), 0, cos(theta3), l3*sin(theta3) 0, -1, 0, 0 0, 0, 0, 1 b4=cos(theta4) 0 sin(theta4) l4*cos(theta4);sin(theta4) 0 -cos(theta4) l4*sin(theta4);0 1 0 0; 0 0 0 1b4 = cos(theta4), 0, sin(theta4), l4*cos(theta4) sin(theta4), 0, -cos(theta4), l4*sin(theta4) 0, 1, 0, 0 0, 0, 0
4、, 1 b5=cos(theta5) 0 -sin(theta5) 0;sin(theta5) 0 cos(theta5) 0;0 -1 0 0;0 0 0 1b5 = cos(theta5), 0, -sin(theta5), 0 sin(theta5), 0, cos(theta5), 0 0, -1, 0, 0 0, 0, 0, 1 b6=cos(theta6) -sin(theta6) 0 0; sin(theta6) cos(theta6) 0 0;0 0 1 d; 0 0 0 1b6 = cos(theta6), -sin(theta6), 0, 0 sin(theta6), co
5、s(theta6), 0, 0 0, 0, 1, d 0, 0, 0, 1% b1*b2*b3*b4*b5*b6ans = sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - cos(theta1)*cos(theta2)*cos(theta3) - cos(theta1)*cos(theta4)*sin(theta2) - cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - cos(theta1)*cos(theta2)*cos(theta3) + cos(the
6、ta1)*sin(theta2)*sin(theta4) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3), cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - cos(theta1)*cos(theta2)*cos(theta3) - cos(theta1)*cos(theta4)*sin(theta2) + sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) -
7、cos(theta1)*cos(theta2)*cos(theta3) + cos(theta1)*sin(theta2)*sin(theta4) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3), sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - cos(theta1)*cos(theta2)*cos(theta3) + cos(theta1)*sin(theta2)*sin(theta4) - cos(theta5)*(cos(the
8、ta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3), d*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - cos(theta1)*cos(theta2)*cos(theta3) + cos(theta1)*sin(theta2)*sin(theta4) - cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3) - l4*cos(theta4)*(sin(theta1)*sin(thet
9、a3) - cos(theta1)*cos(theta2)*cos(theta3) + l2*cos(theta1)*cos(theta2) - l3*sin(theta1)*sin(theta3) + l3*cos(theta1)*cos(theta2)*cos(theta3) - l4*cos(theta1)*sin(theta2)*sin(theta4) cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1) - sin(theta1)*sin
10、(theta2)*sin(theta4) + sin(theta5)*(cos(theta1)*cos(theta3) - cos(theta2)*sin(theta1)*sin(theta3) - sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1) + cos(theta4)*sin(theta1)*sin(theta2), - cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(the
11、ta3)*sin(theta1) + cos(theta4)*sin(theta1)*sin(theta2) - sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1) - sin(theta1)*sin(theta2)*sin(theta4) + sin(theta5)*(cos(theta1)*cos(theta3) - cos(theta2)*sin(theta1)*sin(theta3), cos(theta5)*(cos(theta1)*c
12、os(theta3) - cos(theta2)*sin(theta1)*sin(theta3) - sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1) - sin(theta1)*sin(theta2)*sin(theta4), l4*cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1) - d*(sin(theta5)*(cos(theta4)*(cos(theta1)*s
13、in(theta3) + cos(theta2)*cos(theta3)*sin(theta1) - sin(theta1)*sin(theta2)*sin(theta4) - cos(theta5)*(cos(theta1)*cos(theta3) - cos(theta2)*sin(theta1)*sin(theta3) + l2*cos(theta2)*sin(theta1) + l3*cos(theta1)*sin(theta3) + l3*cos(theta2)*cos(theta3)*sin(theta1) - l4*sin(theta1)*sin(theta2)*sin(thet
14、a4) - cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2) - sin(theta2)*sin(theta3)*sin(theta5) - sin(theta6)*(cos(theta2)*cos(theta4) - cos(theta3)*sin(theta2)*sin(theta4), sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2) -
15、sin(theta2)*sin(theta3)*sin(theta5) - cos(theta6)*(cos(theta2)*cos(theta4) - cos(theta3)*sin(theta2)*sin(theta4), sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2) + cos(theta5)*sin(theta2)*sin(theta3), h - l2*sin(theta2) + d*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta
16、3)*cos(theta4)*sin(theta2) + cos(theta5)*sin(theta2)*sin(theta3) - l3*cos(theta3)*sin(theta2) - l4*cos(theta2)*sin(theta4) - l4*cos(theta3)*cos(theta4)*sin(theta2) 0, 0, 0, 1%syms theta1 theta2 theta3 theta4 theta5 theta6 d l2 l3 l4theta1=0,theta2=0,theta3=0,theta4=0,theta5=0,theta6=0x= d*(sin(theta
17、5).*(cos(theta4).*(sin(theta1).*sin(theta3)-cos(theta1).*cos(theta2).*cos(theta3)+cos(theta1).*sin(theta2).*sin(theta4)-cos(theta5).*(cos(theta3).*sin(theta1) +cos(theta1).*cos(theta2).*sin(theta3)-l4*cos(theta4).*(sin(theta1).*sin(theta3)-cos(theta1).*cos(theta2).*cos(theta3)+l2*cos(theta1).*cos(th
18、eta2)-l3*sin(theta1).*sin(theta3) + l3*cos(theta1).*cos(theta2).*cos(theta3) - l4*cos(theta1).*sin(theta2).*sin(theta4)y= l4*cos(theta4).*(cos(theta1).*sin(theta3) + cos(theta2).*cos(theta3).*sin(theta1) - d*(sin(theta5).*(cos(theta4).*(cos(theta1).*sin(theta3) + cos(theta2).*cos(theta3).*sin(theta1
19、) - sin(theta1).*sin(theta2).*sin(theta4) - cos(theta5).*(cos(theta1).*cos(theta3) - cos(theta2).*sin(theta1).*sin(theta3) + l2*cos(theta2).*sin(theta1) + l3*cos(theta1).*sin(theta3) + l3*cos(theta2).*cos(theta3).*sin(theta1) - l4*sin(theta1).*sin(theta2).*sin(theta4)z= h - l2*sin(theta2) + d*(sin(t
20、heta5).*(cos(theta2).*sin(theta4) + cos(theta3).*cos(theta4).*sin(theta2) + cos(theta5).*sin(theta2).*sin(theta3) - l3*cos(theta3).*sin(theta2) - l4*cos(theta2).*sin(theta4) - l4*cos(theta3).*cos(theta4).*sin(theta2)theta1 =0theta2 =0theta3 =0theta4 =0theta5 =0theta6 =0x =l2 + l3 + l4y =dz =h% k1=in
21、v(b1); k2=inv(b2); k3=inv(b3); k4=inv(b4); k5=inv(b5); k6=inv(b6); k1k1 = cos(theta1), sin(theta1), 0, 0 0, 0, -1, h -sin(theta1), cos(theta1), 0, 0 0, 0, 0, 1 k2k2 = cos(theta2), sin(theta2), 0, -l2 0, 0, 1, 0 sin(theta2), -cos(theta2), 0, 0 0, 0, 0, 1 k3k3 = cos(theta3), sin(theta3), 0, -l3 0, 0,
22、-1, 0 -sin(theta3), cos(theta3), 0, 0 0, 0, 0, 1 k4k4 = cos(theta4), sin(theta4), 0, -l4 0, 0, 1, 0 sin(theta4), -cos(theta4), 0, 0 0, 0, 0, 1 k5k5 = cos(theta5), sin(theta5), 0, 0 0, 0, -1, 0 -sin(theta5), cos(theta5), 0, 0 0, 0, 0, 1 k6k6 = cos(theta6), sin(theta6), 0, 0 -sin(theta6), cos(theta6),
23、 0, 0 0, 0, 1, -d 0, 0, 0, 1% syms nx ox ax px ny oy ay py nz oz az pz t6=nx ox ax px;ny oy ay py;nz oz az pz;0 0 0 1t6 = nx, ox, ax, px ny, oy, ay, py nz, oz, az, pz 0, 0, 0, 1k1*t6ans = nx*cos(theta1) + ny*sin(theta1), ox*cos(theta1) + oy*sin(theta1), ax*cos(theta1) + ay*sin(theta1), px*cos(theta1
24、) + py*sin(theta1) -nz, -oz, -az, h - pz ny*cos(theta1) - nx*sin(theta1), oy*cos(theta1) - ox*sin(theta1), ay*cos(theta1) - ax*sin(theta1), py*cos(theta1) - px*sin(theta1) 0, 0, 0, 1 k2*k1*t6ans = nx*cos(theta1)*cos(theta2) - nz*sin(theta2) + ny*cos(theta2)*sin(theta1), ox*cos(theta1)*cos(theta2) -
25、oz*sin(theta2) + oy*cos(theta2)*sin(theta1), ax*cos(theta1)*cos(theta2) - az*sin(theta2) + ay*cos(theta2)*sin(theta1), h*sin(theta2) - l2 - pz*sin(theta2) + px*cos(theta1)*cos(theta2) + py*cos(theta2)*sin(theta1) ny*cos(theta1) - nx*sin(theta1), oy*cos(theta1) - ox*sin(theta1), ay*cos(theta1) - ax*s
26、in(theta1), py*cos(theta1) - px*sin(theta1) nz*cos(theta2) + nx*cos(theta1)*sin(theta2) + ny*sin(theta1)*sin(theta2), oz*cos(theta2) + ox*cos(theta1)*sin(theta2) + oy*sin(theta1)*sin(theta2), az*cos(theta2) + ax*cos(theta1)*sin(theta2) + ay*sin(theta1)*sin(theta2), pz*cos(theta2) - h*cos(theta2) + p
27、x*cos(theta1)*sin(theta2) + py*sin(theta1)*sin(theta2) 0, 0, 0, 1 k3*k2*k1*t6ans = ny*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1) - nx*(sin(theta1)*sin(theta3) - cos(theta1)*cos(theta2)*cos(theta3) - nz*cos(theta3)*sin(theta2), oy*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)
28、*sin(theta1) - ox*(sin(theta1)*sin(theta3) - cos(theta1)*cos(theta2)*cos(theta3) - oz*cos(theta3)*sin(theta2), ay*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1) - ax*(sin(theta1)*sin(theta3) - cos(theta1)*cos(theta2)*cos(theta3) - az*cos(theta3)*sin(theta2), py*(cos(theta1)*sin(theta
29、3) + cos(theta2)*cos(theta3)*sin(theta1) - px*(sin(theta1)*sin(theta3) - cos(theta1)*cos(theta2)*cos(theta3) - l3 - l2*cos(theta3) + h*cos(theta3)*sin(theta2) - pz*cos(theta3)*sin(theta2) - nz*cos(theta2) - nx*cos(theta1)*sin(theta2) - ny*sin(theta1)*sin(theta2), - oz*cos(theta2) - ox*cos(theta1)*si
30、n(theta2) - oy*sin(theta1)*sin(theta2), - az*cos(theta2) - ax*cos(theta1)*sin(theta2) - ay*sin(theta1)*sin(theta2), h*cos(theta2) - pz*cos(theta2) - px*cos(theta1)*sin(theta2) - py*sin(theta1)*sin(theta2) ny*(cos(theta1)*cos(theta3) - cos(theta2)*sin(theta1)*sin(theta3) - nx*(cos(theta3)*sin(theta1)
31、 + cos(theta1)*cos(theta2)*sin(theta3) + nz*sin(theta2)*sin(theta3), oy*(cos(theta1)*cos(theta3) - cos(theta2)*sin(theta1)*sin(theta3) - ox*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3) + oz*sin(theta2)*sin(theta3), ay*(cos(theta1)*cos(theta3) - cos(theta2)*sin(theta1)*sin(theta3) -
32、 ax*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3) + az*sin(theta2)*sin(theta3), py*(cos(theta1)*cos(theta3) - cos(theta2)*sin(theta1)*sin(theta3) - px*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3) + l2*sin(theta3) - h*sin(theta2)*sin(theta3) + pz*sin(theta2)*sin(the
33、ta3) 0, 0, 0, 1 k4*k3*k2*k1*t6ans = - nz*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2) - nx*(cos(theta1)*(sin(theta2)*sin(theta4) - cos(theta2)*cos(theta3)*cos(theta4) + cos(theta4)*sin(theta1)*sin(theta3) - ny*(sin(theta1)*(sin(theta2)*sin(theta4) - cos(theta2)*cos(theta3)*cos(thet
34、a4) - cos(theta1)*cos(theta4)*sin(theta3), - oz*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2) - ox*(cos(theta1)*(sin(theta2)*sin(theta4) - cos(theta2)*cos(theta3)*cos(theta4) + cos(theta4)*sin(theta1)*sin(theta3) - oy*(sin(theta1)*(sin(theta2)*sin(theta4) - cos(theta2)*cos(theta3)*c
35、os(theta4) - cos(theta1)*cos(theta4)*sin(theta3), - az*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2) - ax*(cos(theta1)*(sin(theta2)*sin(theta4) - cos(theta2)*cos(theta3)*cos(theta4) + cos(theta4)*sin(theta1)*sin(theta3) - ay*(sin(theta1)*(sin(theta2)*sin(theta4) - cos(theta2)*cos(th
36、eta3)*cos(theta4) - cos(theta1)*cos(theta4)*sin(theta3), h*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2) - l4 - pz*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2) - l3*cos(theta4) - px*(cos(theta1)*(sin(theta2)*sin(theta4) - cos(theta2)*cos(theta3)*cos(theta4) + cos(t
37、heta4)*sin(theta1)*sin(theta3) - py*(sin(theta1)*(sin(theta2)*sin(theta4) - cos(theta2)*cos(theta3)*cos(theta4) - cos(theta1)*cos(theta4)*sin(theta3) - l2*cos(theta3)*cos(theta4) ny*(cos(theta1)*cos(theta3) - cos(theta2)*sin(theta1)*sin(theta3) - nx*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)
38、*sin(theta3) + nz*sin(theta2)*sin(theta3), oy*(cos(theta1)*cos(theta3) - cos(theta2)*sin(theta1)*sin(theta3) - ox*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3) + oz*sin(theta2)*sin(theta3), ay*(cos(theta1)*cos(theta3) - cos(theta2)*sin(theta1)*sin(theta3) - ax*(cos(theta3)*sin(theta
39、1) + cos(theta1)*cos(theta2)*sin(theta3) + az*sin(theta2)*sin(theta3), py*(cos(theta1)*cos(theta3) - cos(theta2)*sin(theta1)*sin(theta3) - px*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3) + l2*sin(theta3) - h*sin(theta2)*sin(theta3) + pz*sin(theta2)*sin(theta3) nz*(cos(theta2)*cos(theta4) - cos(theta3)*sin(theta2)*sin(theta4) + nx*(cos(theta1)*(cos(theta4)*sin(theta2) + cos(theta2)*cos(theta3)*sin(theta4) - sin(theta1)*sin(theta3)*sin(theta4) + ny*(sin(theta1)*(cos(theta4)*sin(theta2) + cos(theta2)*cos(theta3)*sin(theta4) + cos(theta1)*sin(theta3)*sin(theta4), oz*(cos(
