compute inverse kinematics of a 6 dof robot arm in matlab

main.m
% Define the robot arm structure (DH parameters)
L1 = 1;     % Length of Link 1
L2 = 1;     % Length of Link 2
L3 = 1;     % Length of Link 3
L4 = 1;     % Length of Link 4
L5 = 1;     % Length of Link 5
L6 = 1;     % Length of Link 6

robot = robotics.RigidBodyTree;

body1 = robotics.RigidBody('body1');
joint1 = robotics.Joint('joint1', 'revolute');
setFixedTransform(joint1, trvec2tform([0 0 0]));
joint1.JointAxis = [0 0 1];
body1.Joint = joint1;

addBody(robot, body1, 'base')

body2 = robotics.RigidBody('body2');
joint2 = robotics.Joint('joint2','revolute');
setFixedTransform(joint2, trvec2tform([L1 0 0]));
joint2.JointAxis = [0 1 0];
body2.Joint = joint2;

addBody(robot, body2, 'body1');

% Add other body elements with similar procedure as above

% Define the end-effector target position and orientation
targetPosition = [1 1 1];
targetOrientation = eye(3);

% Solve for the joint angles corresponding to the end-effector target
weight = ones(6,1); % Weight for each joint angle
initialGuess = zeros(6,1); % Initial guess for joint angles
jointAngles = ik('EndEffector',targetPosition,targetOrientation,weight,initialGuess);

% Display the joint angles
disp(jointAngles);
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