robotics section 4 matlab practice

使用matlab robot toolbox工具箱编程求解工作空间

% 加载内置的 Puma560 模型
mdl_puma560
robot = p560;

% 获取每个关节的范围（这里假设是 +-160° 的范围，单位转为弧度）
q1 = deg2rad(linspace(-160, 160, 20));
q2 = deg2rad(linspace(-110, 110, 20));
q3 = deg2rad(linspace(-135, 135, 20));
q4 = deg2rad(linspace(-266, 266, 10));
q5 = deg2rad(linspace(-100, 100, 10));
q6 = deg2rad(linspace(-266, 266, 10));

workspace = [];

for i = 1:length(q1)
    for j = 1:length(q2)
        for k = 1:length(q3)
            T = robot.fkine([q1(i), q2(j), q3(k), 0, 0, 0]);
            position = transl(T); % 提取平移部分
            workspace = [workspace; position];
        end
    end
end

figure;
plot3(workspace(:,1), workspace(:,2), workspace(:,3), '.', 'MarkerSize', 1);
xlabel('X (m)');
ylabel('Y (m)');
zlabel('Z (m)');
title('Puma560 Robot Workspace');
grid on;
axis equal;

得到结果:

result