该程序实现了对六连杆机械臂的运动控制,包括运动学参数的计算和机械臂姿态的可视化。
- Python 3.x
- roboticstoolbox库
pip install roboticstoolbox-python
- 在运行该程序前,请确保安装了Python 3.x和roboticstoolbox库。
- 将程序中的init_T和theta设置为机械臂的初始姿态和运动学参数。
- 执行CreateDH.py,程序将自动计算机械臂的正逆运动学并将姿态可视化。
该程序实现了对六连杆机械臂的运动控制,包括运动学参数的计算和机械臂姿态的可视化。
- Python 3.x
- roboticstoolbox库
pip install roboticstoolbox-python
- 在运行该程序前,请确保安装了Python 3.x和roboticstoolbox库。
- 将程序中的init_T和theta设置为机械臂的初始姿态和运动学参数。
- 执行CreateDH.py,程序将自动计算机械臂的正逆运动学并将姿态可视化。
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